Pilz PNOZ m B0 User Manual download pdf (Page 24)

FieldbusModules

OperatingManualPNOZmulti2CommunicationInterfaces

1002971EN02

Byte

ObjectIndex

(hex)

SubIndex

(hex)

PDO COBID

24 2100 19 RPDO4 500h

+nodeaddress

25 2100 1A

26 2100 1B

27 2100 1C

28 2100 1D

29 2100 1E

30 2100 1F

31 2100 20

Keytoabbreviations:

TPDO:TransmitProcessDataObject

RPDO:ReceiveProcessDataObject

COBID:CommunicationObjectIdentifier

4.4 PNOZmESEtherCAT

4.4.1 ServiceDataObjects(SDOs)

AlltherelevantdeviceparametersandcurrentprocessdataofthePNOZmulti2are

enteredintheobjectdirectoryoftheEtherCAT.ThesecanbereadandwrittenviaService

DataObjects(SDOs).

ToenablethefieldbusmoduletobeincorporatedeasilywithinaEtherCATnetwork,theob

jectdirectoryisavailableasanEDSfile(seeObjectdirectory,ServiceDataObjects

(SDOs)[

124].

4.4.2 ProcessDataObjects(PDOs)

Themanufacturerspecificpartoftheobjectdirectoryisstructuredasfollows:

PDO(hex) Size Name Index(hex) SubIndex(hex) Content

0x1A00 32 TxPDO 2000 0120 Outputdata(fromthe

PNOZmulti)

0x1A01 128 TxPDO 2000 0111 Defaultconfiguration

(freelyconfigurable)

2001 0108

2001 4950

2002 0108

2002 25–2C

2002 49–50

2007 01–08

2007 25–2C

2007 49–50

200A 01–2E

1 2 ... 19 20 21 22 23 24 25 26 27 28 29 ... 156 157

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