Documentation

One vector of data type UINT8 which the block writes to the TX area of the dual-port memory. This area contains data which is sent to the CANopen master. Use Byte Packing blocks to assemble the vector from specific data. The Number of Bytes parameter sets the length of this vector.

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

The slave transmits data via process data objects (PDO). The maximum number of TX 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 TX PDOs are included in the CANopen object dictionary from addresses 0x1800 to 0x183F. The mapping information for each TX PDO is stored in the CANopen object dictionary from 0x1A00 to 0x1A3F.

Type: scalar | vector

Data Type: uint8

This block does not have any output ports.

This ID defines the link to the corresponding Setup block

The number of bytes that should be written to the TX data area. This parameter sets the length of the input 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.