Eaton Moeller SmartWire-Darwin Series Hardware And Engineering

Also see for Moeller SmartWire-Darwin Series: Hardware and engineering

Contents

Eaton Moeller SmartWire-Darwin Series Hardware And Engineering Manual pdf 78 page image

Programming7402/09 AWB2723-1612enPDO communicationA maximum of 16 reception PDOs and 16 transmission PDOsare supported. A maximum of 128 bytes are thereforeavailable in each communication direction for utility datainterchange.Only the four default RX PDOs and the four default TX PDOsare active in basic state (after a reset of the gateway). Iffurther PDOs are needed for transfer, PDOs 5 to 16 can beactivated by the user.Ensure that the COB-IDs of the activated PDOs do not collidewith the other CANopen slaves in the same network. Theaddresses of the individual PDOs are derived as follows:PDO 1 - 4: address = NodeID + standard offsetPDO 5 - 8: address = NodeID + standard offset + 64PDO 9 - 12: address = NodeID + standard offset + 96PDO 13 - 16: address = NodeID + standard offset + 32Accordingly only node IDs in the range 1 to 32 should beused for the gateway.PDO assignmentAs standard byte variables in PDOs 1 to 8 and word variablesin PDOs 9 to 16 are mapped. Accordingly process datamemory for 64 byte variables and 32 word variables at atime are available without adapting the default mapping, .The PDO mapping can be randomly changed by the user.SDO communicationThe simple SDO server connection is supported (expeditedSDO server).