Requirements
A Red Lion CAN option card (G3CN, XCCN) is required when using the CANOpen PDO Slave communications driver. [g3-pdoslave | Word]
Overview
The CANOpen PDO Slave driver is designed to operate with a CANOpen Master device and supports SDO communications related to PDO configuration and events.
Node Guarding is supported when enabled in the driver configuration. [g3-pdoslave | Word]
Accessing Data
In the Communications section:
- Select the root of the G3 tree
- Choose the CAN option card
- Select the CANOpen PDO Slave driver
Add a Gateway Block to define each PDO.
Use the PDO Configurator (via the Start Address edit button) to build PDOs based on the object dictionary or application requirements. [g3-pdoslave | Word]
The PDO Configurator allows:
- 4 TPDOs (Transmit PDOs)
- 4 RPDOs (Receive PDOs)
PDO COB-ID Mapping
| PDO | COB-ID | Resulting COB-ID Range |
|---|---|---|
| TPDO 1 | 0x180 + Node-ID | 0x181 – 0x1FF |
| RPDO 1 | 0x200 + Node-ID | 0x201 – 0x27F |
| TPDO 2 | 0x280 + Node-ID | 0x281 – 0x2FF |
| RPDO 2 | 0x300 + Node-ID | 0x301 – 0x37F |
| TPDO 3 | 0x380 + Node-ID | 0x381 – 0x3FF |
| RPDO 3 | 0x400 + Node-ID | 0x401 – 0x47F |
| TPDO 4 | 0x480 + Node-ID | 0x481 – 0x4FF |
| RPDO 4 | 0x500 + Node-ID | 0x501 – 0x57F |
PDO Configuration Notes
- Add elements to each PDO as needed
- Each PDO is limited to 8 bytes of data
- Set:
- Block Size = number of elements
-
Block Direction:
- TPDO → G3 to Device
- RPDO → Device to G3
Tags can then be mapped to each PDO parameter. [g3-pdoslave | Word]
Manual TPDO Events
Manual events are useful when the CANOpen Master cannot configure TPDO events.
Options:
- Enable Manual Event in PDO Configurator
- Set Event Timer (ms)
-
0= send only on value change
-
Note:
The device must be in Operational State to send TPDOs.
If the master cannot set this, enable:
- “Begin in the Operational State” in driver settings [g3-pdoslave | Word]
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