Creating further PDOs

The CANopen slave can exchange up to 16 PDOs (each with 8 bytes of process data) with the CANopen master in input and output direction. By default 2 PDOs are created in Tx and Rx direction. Here we shown how to create further PDOs for a CANopen slave.

Requirements for this step:

Create the PDOs as follows:

1. Right-click on a CANopen slave in the tree view.
2. Click in the context menu on Insert TxPDO or Insert RxPDO to create PDOs in Tx or Rx direction.
Creating further PDOs 1:
The new TxPDOs or RxPDOs are inserted under the already created PDOs and numbered consecutively in the tree view. Notice From the fifth PDO in Tx or Rx direction the COB Id is no longer entered automatically (see the following figure).
Creating further PDOs 2:
3. From the fifth PDO in Tx or Rx direction click on the PDO tab.
4. Enter the desired value in the COB Id field.
You have successfully created further PDOs; in the next step you can create variables for the data exchange under the PDOs.