PDO behavior

Default identifier for PDO 3 + 4

New: Rx and Tx PDOs 3+4 now feature default identifiers. The same identifiers that were previously assigned via object 0x5500 are used. The default mapping was not changed. The PDOs are only created if the appropriate number of process data is available.

Advantage: Up to 12 analog inputs and outputs can be used, without PDOs having to be activated during start-up through identifier assignment.

Effects of using new Bus Couplers in existing networks: none

Increased firmware performance

New: PDO handling has become significantly faster (approx. 3-4 times).

Advantage: Shorter response times for input and output changes, higher sampling rate.

Effects of using new Bus Couplers in existing networks: The bus load may increase, particularly if PDOs with analog input data communicate in event-driven mode ("unbraked"). Remedy:

  1. Activate cyclic update of the PDOs with analog input data through event timer (see below) (switch off global interrupt enable 0x6423!) or
  2. communicate associated PDOs in synchronous mode (change transmission type from 255 to 254, e.g. to 1, 2 or 5).
PDO behavior 1:

Bus load

If the Beckhoff FC510x CANopen master cards are used, the bus load is displayed in a variable.

PDO event timer is supported

New: TxPDOs: Even if an event has not just occurred, event driven PDOs are sent after the event timer has elapsed. If an event occurs, the event timer is reset. Note: The event "analog input change" is switched on or off via the object 0x6423 (default).
RxPDOs: The event timer is used as watchdog for monitoring the arrival of event-driven PDOs. If a PDO does not arrive within a set period of time, the bus node adopts the error state.

Advantage: The PDO transmission behavior can now be set even more individually. TxPDOs with analog inputs, e.g., can be sent with SNYC-independent cycle times. The arrival of event-driven RxPDOs can now be monitored.

Effects of using new Bus Couplers in existing networks: none

PDO synchronized throughout with I/O update

New: If all PDOs are set to synchronized communication (transmission type 0...240), the I/O update is triggered through the arrival of a SYNC telegram.

Advantage: Synchronization includes I/O behavior (previously only communication was synchronized).

Effects of using new Bus Couplers in existing networks: none

Variable mapping now only according to CANopen standard

New: The re-mapping sequence is now defined by the CANopen specification. CANopen devices may only allow the following sequence:

  1. First delete PDO (0x1400ff or 0x1800ff, set sub-index 1 to "0")
  2. Set sub-index 0 in the mapping parameters (0x1600ff or 0x1A00ff) to "0"
  3. Change mapping entries (0x1600ff or 0x1800ff, SI 1..8)
  4. Set sub-index 0 in the mapping parameters to the valid value.
  5. Create PDO by entering the identifier (0x1400ff or 0x1800, sub-index 1).

Advantage: Since only one method is permitted, incompatibilities are reduced.

Effects of using new Bus Couplers in existing networks: only if the default mapping was actually changed.

PDO behavior 2:

Performance gain

The above-mentioned gain in performance is particularly pronounced for re-mapped PDOs.