Aventics CANopen Instrucciones De Servicio página 143

AVENTICS | CANopen | R412005742–BDL–001–AD
On the bus coupler, PDO 1 is assigned by default for transmitting
and receiving.
Table 25: Identifier definition dependant on node ID
Object
Emergency
NMT Node Guarding
SDO
SDO
PDO 1
PDO 2
PDO 3
PDO 4
PDO 1
PDO 2
PDO 3
PDO 4
Table 26: Example: switched node ID = 4
Object
Emergency
NMT Node Guarding
SDO
SDO
PDO 1
PDO 2
PDO 3
PDO 4
PDO 1
PDO 2
PDO 3
PDO 4
Identifier Direction
128 + Node-ID Transmit
1792 + Node-ID Transmit/receive
1408 + Node-ID Transmit
1536 + Node-ID Receive
384 + Node-ID Transmit
640 + Node-ID Transmit
896 + Node-ID Transmit
1152 + Node-ID Transmit
512 + Node-ID Receive
768 + Node-ID Receive
1024 + Node-ID Receive
1280 + Node-ID Receive
Identifier Direction
132 Transmit
1796 Transmit/receive
1412 Transmit
1540 Receive
388 Transmit
644 Transmit
900 Transmit
1156 Transmit
516 Receive
772 Receive
1028 Receive
1284 Receive
143
Appendix