Siemens Simatic Operating Instructions Manual page 83

5. The selected OD entries can now be seen in the table "OD entries used in the PDO"
Two additional tables below make for easy reference to see how any previously defined
receive PDOs with the same COB ID are structured.
Note
The length of the transmit data assigned to a transmit PDO must match the length of the
receive data in the corresponding receive PDO at the end of configuring.
Defining receive data OD and assigning receive PDOs
The steps for defining and assigning the receive data are analogous to those for transmit
data:
1. Create receive data object directory
2. Define receive OD index and subindex
3. Define receive PDOs
4. Assignment of the OD entries used in the PDO
Note
The length of the receive data assigned to a receive PDO must match the length of the
transmit data in the corresponding transmit PDO at the end of configuring. If necessary, the
length of the receive PDO must be adapted by using predefined dummy OD entries.
Adapting I/O addresses
If necessary, you must adapt the I/O addresses assigned automatically by the TIA Portal.
This is possible, for example, in the "Device overview" window. Here you can also find the
I/O addresses used by the slots. In particular, the addresses assigned to slot 1, that is the
CANopen Manager, are important because the control and status information is exchanged
with the S7 program via these addresses. It is important for startup of the PN/CAN LINK that
the control information transmitted here from the S7 program is set correctly.
Checking data consistency
You can check the consistency of the assignments for the receive data and transmit data as
well as the data types used with a compilation.
SIMATIC PN/CAN LINK
Operating Instructions, 03/2018, A5E39895388-AB
Configuring / programming
9.1 Configuring CANopen Manager
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