Function description
Operating Manual PSSnet GW1 MOD-CAN
1002693-EN-02
20
CANopen
The manufacturer's ID, the device ID and any functions supported by a field device are de-
fined in a device description file. The device description file (Electronic Data Sheet, EDS) is
fieldbus-dependent. The content and format of a device description file are specified in the
fieldbus standard. The file is needed in order to include an unknown field device in the re-
spective fieldbus configuration tool and in order to configure the plant-specific require-
ments.
An EDS file in a standardised text format is used for CANopen devices.
Translation tables
Only Register 4x is represented in the tables. The same assignment applies for Registers
0x, 1x, and 3x.
Payload
Modbus CANopen
SDO
Register Byte PDO COB-ID Index
Subindex
(hex)
4x00001 Low Byte RxPDO1 0x200 + Node-Id 2000 1
High Byte 2
4x00002 …
400004
Low Byte
High Byte
3 … 8
4x00005 Low Byte RxPDO2 0x300 + Node-Id 2000 9
High Byte A
4x00006 …
4x00008
Low Byte
High Byte
B … 10
4x00009 Low Byte RxPDO3 0x400 + Node-Id 2000 11
High Byte 12
4x00010 …
4x00012
Low Byte
High Byte
13 … 18
4x00013 Low Byte RxPDO4 0x500 + Node-Id 2000 19
High Byte 1A
4x00014 …
4x00016
Low Byte
High Byte
1B … 20
4x00129 Low Byte TxPDO1 0x180 + Node-Id 2002 1
High Byte 2
4x00130 …
4x00132
Low Byte
High Byte
3 … 8
4x00133 Low Byte TxPDO2 0x280 + Node-Id 2002 9
High Byte A
4x00134 …
4x00136
Low Byte
High Byte
B … 10
4.3
4.4
4.4.1
