Automatic PDO Mapping

BK51x0, IL23x0-B510

PDO1 and PDO2 are occupied with digital and analog process data. For every other PDO, the CANopen node uses the procedure shown in flow chart below and occupies the PDOs with process data in the following order:

1. Digital I/Os (if more than than 64 are existent)
2. 1-byte terminals for special functions
3. Analog I/Os
4. 2-byte terminals for special functions
5. 3-byte terminals for special functions
6. ...10. 8-byte terminals for special functions

Data types are not mixed! For every new data type, a new PDO is filled (see example below).

pdofillingflowchart

Example

A BK5120 (CANopen Coupler) has got

▪: 78 digital inputs und 48 digital outputs

▪: 6 analog inputs und 4 analog outputs

▪: one KL5001 (SSI-Sensor Interface: by default 4 byte inputs )

▪: one KL6001 (serial interface: by default 4 byte inputs and 4 byte outputs)

▪: one 1 KL5111 (Interface for incremental encoder - 6 byte inputs and 6 byte outputs)

▪: one KL6201 (AS-i master terminal) with default setting (22 byte process data interface).

PDO	data content (Mapping)	Object directory	PDO	data content (Mapping)	Object directory
RxPDO1	5 byte digital outputs 1...48	0x6200, SI 1..5	TxPDO1	8 byte digital inputs 1...64	0x6000, SI 1..8
RxPDO2	8 byte analog outputs 1...4	0x6411, SI 1..4	TxPDO2	4 byte analog inputs 1...4	0x6401, SI 1..4
RxPDO3	4 byte serial interface	0x2900, SI 1	TxPDO3	2 byte digital inputs 65...78	0x6000, SI 9..10
RxPDO4	6 byte encoder outputs	0x2D00, SI 1	TxPDO4	analog inputs 5 and 6	0x6401, SI 5..6
RxPDO5	8 byte AS-i master 1: parameter data block	0x3100, SI 1	TxPDO5	8 byte: 4 Bytes SSI and 4 Bytes serial interface	0x2800, SI 1..2
RxPDO6	8 byte AS-i master 1: process data block outputs AS-i slave 1...15	0x3100, SI 2	TxPDO6	6 Byte encoder inputs	0x2C00, SI 1
RxPDO7	8 byte AS-i master 1: process data block outputs AS-i slave 16...31	0x3100, SI 3	TxPDO7	8 byte AS-i master 1: parameter data block	0x3000, SI 1
			TxPDO8	8 byte AS-i master 1: process data block inputs AS-i Slave 1...15	0x3000, SI 2
			TxPDO9	8 byte AS-i master 1: process data block inputs AS-i Slave 16...31	0x3000, SI 3