Documentation

One vector of data type UINT8 which the block reads from the RX area of the dual-port memory. This area contains data which has been received from the CANopen master. Use Byte Unpacking blocks to extract specific data. The Number of Bytes parameter sets the length of this vector.

The RX area has a length of 512 bytes. Each byte is represented by a RX application object in the CANopen object dictionary.

The slave receives data via process data objects (PDO). The maximum number of RX PDOs is 64. One PDO can contain up to 8 application objects and therefore has a maximum length of 8 bytes. The link of an application object to a position in a process data object is stored in the PDO mapping configuration. The I/O module retrieves the PDO mapping from the master during the connection process. The corresponding manual of the master device describes how to configure communication objects in the master.

The RX PDOs are included in the CANopen object dictionary from addresses 0x1400 to 0x143F. The mapping information for each RX PDO is stored in the CANopen object dictionary from 0x1600 to 0x163F.

Type: scalar | vector

Data Type: uint8

This block does not have any inputs ports.

This ID defines the link to the corresponding Setup block

The number of bytes that should be read from the RX data area. This parameter sets the length of the output port.

Defines the base sample time at which this driver block gets its sample hit. This parameter can also be set to -1 for inherited sample time. The units are in seconds.