PDO Mappings Tab

PDO Mappings

The Rx and TX PDO tabs provide a way to add/remove and edit the mapping and configurations of the PDOs without getting dirty within the object dictionary and running the risk of making a silly mistake.

The top left window shows "available objects for PDO" this lists all objects in the current object dictionary that have the PDO flag set to optional and provides index, subindex and brief description.

The bottom assigned PDO mapping shows what the current mapping state is. For each row the following information is displayed.

• COB - This is the currently configured COB id that the PDO will transmit or receive on. If concrete node id is set then this field will also respond to $NODEID variables which are common in CanOpen EDS
• Slot - This is where (the index) in the object dictionary PDO configuration parameters this PDO relates to
• Bytes 0-7 - These represent the available bytes within the PDO message than can be used

Bytes 0-7 all feature drop down lists that allow items from the available objects for PDO to be selected. These items fill from the left, so bytes 0 must be filled first. If the selected object is larger than 1 byte the required extra bytes will be marked with "-" to indicate they are full. The next free byte will then show the next drop down list and allow another object to be selected. This allows the desired RX or TX pdos to be built.

Communication paramaters

The communication parameters box allows the parameters for the selected PDO slot to be configured. Simply click on the required row in the bottom PDO mapping window and the connected communication parameters will be displayed. It is also possible to remove the currently selected PDO or to add a new PDO slot. The object dictionary will be updated in sync with the edits here

For ALL PDOs the following communication parameters are available:-

• Slot - The object index associated with these communication parameters
• COB - The currently configured COB may include $NODEID

For TX PDOs the following additional paramaters are avaiable :

• Type - The PDO type 254,255 Auto send, 0 - Sync 1-253 Sync on N.
• Inhibit - time in ms to limit this PDO sending, PDO will not send more than this miliseconds
• Event Timer - time in miliseconds to autosend this PDO
• Sync Start -