PDO Tx – Input table
| Column | Description | Edit mode |
| Idx | The index (in hex format) of the CANopen slave object dictionary item that will be exchanged on this PDO. | Read only |
| Sub | The subindex (in hex format) of the CANopen slave object dictionary item that will be exchanged on this PDO. | Read only |
| PDO | The number of the PDO.TPDOs and RPDOs are numbered from 1 to n. Each PDO can contain max 64 bits of process data. | Input |
| Bit | This is the bit offset position (0 to 63) from which the mapped variable take place.BOOL variable can be mapped on a splitted data type at each bit position.Other varialbe (BYTE, WORD, DWORD and same size variables) must start a % 8 offset (0, 8, 16, 24, 32, 40,48, 56)It is not possible to overflow the PDO max size (64 bit). Exampleit is possible to configure PDO to exchange and USINT parameter at bit offset 56.it is possible to configure PDO to exchange and UINT parameter at bit offset 56.No holes inside a PDO must be left.Exampleit is possible to map USINT parameter at offset 0, UINT at bit offset 8, USINT at bit offset 24it is possible to map USINT parameter at offset 0, USINT at bit offset 24. Ther is an hole of 16 bits (8-23) | Input |
| COBID | COBID is the univoque object id assigned to PDO for data exchange.COBID are assigned automatically in network configuration for the first 4 standard PDOs 1, 2, 3, 4. Given a standard PDO it is always possible to assign an univoque COBID on the network for PDOs data exchange:TPDO 1 : 0x180+$NODEID, TPDO 2 : 0x280+$NODEID, TPDO 3 : 0x380+$NODEID, TPDO 4 : 0x480+$NODEIDRPDO 1 : 0x200+$NODEID, RPDO 2 : 0x300+$NODEID, RPDO 3 : 0x400+$NODEID, RPDO 4 : 0x500+$NODEID | Input |
| Object Name | This is the name of the slave object that wil be exchanged. | Read only |
| Type | The IEC type of the object (and of the variable if defined in Label field) | Read only |
| Size | The size in bit of the object. | Read only |
| Label | This field is used to bind IEC variable to PDO value. This field is filled by Assign operation, is cleared by UnAssign operation.Other possibility to map variable is to enter a valid name of variable here to create a new variable, or to map if it is has been already created with the same name.If no variable exists with the specified name, New PLC variable dialog is shown reporting the Name is going to be assigned.User can select the exact IEC type of the variable, selecting from those of the same size.If already existent global variable name is specified there are two possibilities:variable has a compatible size, in this case is automatically mapped on datablock for data exchange.variable has a not compatible size, in this case an error message is given.If you clear this field leaving it empty, associated variable is unmapped from datablock, it is set as global variable. | Input |
| DataBlock | Variable datablock addressIf no variable is specified asLabel this field is empty too.If variable is specified as Label this value indicates the datablock where the IEC variables is mapped on. | Read only |