CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 1: Introduction
Example: Mapping a Receive PDO
This example illustrates the general procedure for mapping a receive PDO. In the example, the
second receive PDO is mapped to the device’s Control Word object (index 0x6040, p. 58) to
receive device state change commands and to the Mode Of Operation object (index 0x6060, p.
64) to receive mode change commands.
Stage Step Sub-steps/Comments
1 Disable the PDO. In the PDO’s mapping object (Receive PDO Mapping Parameters, index
0x1601), set the sub-index 0 (NUMBER OF MAPPED OBJECTS) to zero.
This disables the PDO.
2 Set the communication
parameters.
In this case, it is not necessary to set the CAN message ID of the PDO,
because the default value is acceptable.
In the PDO TYPE object (sub-index 2 of RECEIVE PDO Communication
Parameters, index 0x1401) choose a value in the range [254-255] so that
the PDO transmits immediately upon request (without waiting for a
synchronization message).
3 Map the data. In the device’s Receive PDO Mapping Parameters object (index 0x1601):
4. Set the number of mapped
objects and enable the PDO.
1: To map the Control Word to the PDO, set object 1601, sub-index 1 to:
Bits 16-31
contain the
index of the
object to be
mapped
0x 6040 00 10
Bits 8-15
clear; the
mapped
object has no
subindex
Bits 0-7 show
the size of the
Control Word
(16 bits) in hex
2: To map the Mode Of Operation object to the PDO, set sub-index 2 to:
Bits 16-31
contain the
index of the
object to be
mapped
0x 6060 00 08
Bits 8-15
clear; the
mapped
object has no
subindex
Bits 0-7 show
the size of the
Change of
Mode object
(16 bits) in hex
In the PDO’s Receive PDO Mapping Parameters object (index 0x1601),
set sub-index 0 (NUMBER OF MAPPED OBJECTS) to 2, the actual
number of objects mapped. This properly configures the PDO. Also, the
presence of a non-zero value in the NUMBER OF MAPPED OBJECTS
object enables the PDO.
Copley Controls 29