CAN Communication
CANopen Application Layer
EPOS4 Communication Guide
CCMC | 2019-11 | rel8759
3-27
The number of supported PDOs depends on the actually used CANopen device. Theoretically, up to 512
RxPDOs and 512 TxPDOs are possible in a CANopen network. Typically, most devices support 4 RxPDOs
and 4 TxPDOs. The actual number of available PDOs is indicated by the CANopen device's object dictio-
nary and described by its firmware specification (such as the separately available documents «EPOS2
Firmware Specification» or «EPOS4 Firmware Specification»).
The PDOs correspond to entries in the Object Dictionary and serve as an interface to objects linked to real
time process data of the master's application code. The application objects' data type and their mapping into
the master's PDOs must match with the slave's PDO mapping. The PDO data exchange parameters, PDO
structure, and mapped objects are defined in the object entries of 0x1400, 0x1600 (for RxPDO 1), and
0x1800, 0x1A00 (for TxPDO 1).
Figure 3-14 CAN communication – PDO protocol
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