CANopen Communication Module DVPCOPM-SL PDO COB-ID setting rule is as follows. Note: COB-ID of RxPDO5~ RxPDO8, TxPDO5~ TxPDO8 can be the COB-ID of other slaves: RxPDO1~ RxPDO4, TxPDO1~ TxPDO4 which has not been used in the network yet. COB-ID of every PDO must not be same.
PDO transmission type is as below; DVP-PLC Operation Manual 23 RxPDO Number COB-ID(HEX) TxPDO Number COB-ID (HEX) RxPDO1 200+slave node address TxPDO1 180+slave node address RxPDO2 300+slave node address TxPDO2 280+slave node address RxPDO3 400+slave node address TxPDO3 380+slave node address RxPDO4 500+slave node address TxPDO4 480+slave node address Transmission Type Description Remark 0 RxPDO Master transmits a SYNCH message to slave every SYNCH cycle. When there is change for RxPDO data, RxPDO data is transmitted to slave and the data that slave receives is valid after receiving the next SYNCH message. When there is no change for RxPDO data, master does not transmit RxPDO data to slave.
SYNCH non-cycle TxPDO Master transmits a SYNCH message to slave every SYNCH cycle. When TxPDO data changes, slave sends the TxPDO data to master after receiving SYNCH message, TxPDO data that master receives is valid immediately. When there is no change for TxPDO data, master does not transmit TxPDO data to slave. 1 RxPDO Master transmits a SYNCH message to slave every SYNCH cycle. Master sends out RxPDO data to slave once every SYNCH cycle. RxPDO data that slave receives from master is valid after slave receives the next SYNCH message. SYNCH Cycle TxPDO Master transmits a SYNCH message to slave every SYNCH cycle. Slave sends out TXPDO data to master once after receiving one SYNCH message.
And then the TxPDO data master receives is valid immediately. 2 RxPDO Master transmits a SYNCH message to slave every SYNCH cycle. Master transmits RxPDO data to slave every two SYNCH cycles. The RxPDO data slave receives will be valid after slave receives the next SYNCH message. SYNCH Cycle TxPDO Master transmits a SYNCH message to slave every SYNCH cycle. Slave sends out TxPDO data to master once after receiving 2 SYNCH messages. And the TxPDO data master receives is valid immediately.