Add PDO

Opens the Select PDO dialog box where all available PDOs are displayed. In this dialog, you select the PDOs to be added to the Receive PDOs or Transmit-PDOs.

Add Mapping

Opens the Select item from object directory dialog box. Objects are listed there that you can add to the PDO mapping.

Edit

Opens the PDO Properties (when a PDO is selected).

When a PDO mapping is selected, the Select item from object directory dialog box opens.

Delete

Deletes the selected objects from the list

Move up

Moves the selected object upwards by one entry.

Move down

Moves the selected object downwards by one entry.

COB ID

Every PDO message must have a COB ID (Communication Object Identifier). You can input explicit values (example: 16#201) or formulas (example: $NODEID+16#200).

RTR

Remote Transmission Request. This option is available for transmit PDOs only.

 You can use an RTR frame for interrogating the PDO externally.

Inhibit time (x 100µs)

You can edit this field only if the device supports this functionality. The inhibit time is the minimum time between two messages of a specific PDO. You can use this setting for preventing PDOs from being sent too often when their values are edited. Default: "0". Possible values: 0...65535.

Transmission Type

• acyclic - synchronous: When a change is made, the PDO is transmitted synchro­nously, but not periodically. (default)

• cyclic - synchronous: The PDO is trans­mitted every nth sync.

• synchronous – RTR only: Available for transmit PDOs only. After a synchronization message, the PDO is updated, but not trans­mitted. Transmission is by explicit request only (Remote Transmission Request).

• asynchronous – RTR only: Available for transmit PDOs only. The PDO is updated and transmitted by explicit request only (Remote Transmission Request).

• asynchronous – manufacturer-specific: The PDO is transmitted after specific events.

• asynchronous – device profile: The PDO is transmitted according to the CiA device profile.

Number of Syncs

For transmission type cyclic - synchronous only.

Indicate the interval for transmitting the PDOs. The value is a multiple of the Cycle Period (µs) of the CANopen manager. Default: 1. Possible values: 1...240.

Example: Number of syncs = 4; cycle period = 1000 µs → transmission interval = 4000 µs.

Event Time (x 1ms)

Only for transmission types asynchronous - manufacturer-specific and asynchronous - device profile.

You can edit this field only if the device supports this functionality. Indicate the time frame that should be between two PDO transmissions PDOs (in milliseconds). Default: "0". Possible values: 0...65535.

Processing by CANopen Manager

: Default.

: The CANopen manager does not process the PDO any longer. It is no longer transmitted or received.

Name

COB ID of the PDO or the name of the mapped object as it is used in the device description and in the object directory.

Index

Index of the object

Subindex

Subindex of the object

Access Type

• RW: read-write

• RO: read only

• WO: write only

• RWW: Read/write per SDO; write permis­sion per PDO (==> RPDO, output from the master viewpoint, input from the slave view­point).

• RWR: Read/write per SDO; read permission per PDO (==> TPDO, input from the master viewpoint, output from the slave viewpoint).

• CONST=constant

Data type

Data type of the object

Default value

Default value of the object

Bit length

Length of the object