Pilz PNOZ m B0 - Manual (Page 24)

Fieldbus Modules
Operating Manual PNOZmulti 2 Communication Interfaces
1002971­EN­02 24
Byte
Object Index
(hex)
Sub Index
(hex)
PDO COB­ID
24 2100 19 RPDO 4 500h
+ node address 25 2100 1A
26 2100 1B
27 2100 1C
28 2100 1D
29 2100 1E
30 2100 1F
31 2100 20
Key to abbreviations:
TPDO: Transmit Process Data Object
RPDO: Receive Process Data Object
COB­ID: Communication Object Identifier
4.4 PNOZ m ES EtherCAT
4.4.1 Service Data Objects (SDOs)
All the relevant device parameters and current process data of the PNOZmulti 2 are
entered in the object directory of the EtherCAT. These can be read and written via Service
Data Objects (SDOs).
To enable the fieldbus module to be incorporated easily within a EtherCAT network, the ob­
ject directory is available as an EDS file (see
Object directory, Service Data Objects
(SDOs) [ 124] .
4.4.2 Process Data Objects (PDOs)
The manufacturer­specific part of the object directory is structured as follows:
PDO (hex) Size Name Index (hex) Sub­Index(hex) Content
0x1A00 32 TxPDO 2000 01 ­ 20 Output data (from the
PNOZmulti)
0x1A01 128 TxPDO 2000 01 ­ 11 Default configuration
(freely configurable) 2001 01 ­ 08
2001 49 ­ 50
2002 01 ­ 08
2002 25 – 2C
2002 49–50
2007 01–08
2007 25–2C
2007 49–50
200A 01–2E