CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 1: Introduction
RECEIVE PDO MAPPING PARAMETERS INDEX 0X1700
Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
These objects allow the mapping of each of the receive PDO objects to be configured.
NUMBER OF MAPPED OBJECTS INDEX 0X1700, SUB-INDEX 0
Type Access Units Range Map PDO Memory
Unsigned 8 RW - 0-4 NO R
Description
This value gives the total number of objects mapped to this PDO. Once the PDO mapping has
been established by configuring the objects in sub-indexes 1 – 4, this value should be updated to
indicate the actual number of objects mapped to the PDO.
PDO MAPPING INDEX 0X1700, SUB-INDEX 1 – 4
Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below NO R
Description
When a PDO message is received, the data passed with the PDO message (up to 8 bytes) is
used to update the objects mapped to the PDO. The values in the PDO mapping objects identify
which object(s) the PDO data maps to. The first object is specified by the value in sub-index 1; the
second object is identified by sub-index 2, etc.
Each of the PDO mapping values consist of a 32-bit value structured as follows:
Bit Description
0-7 Size (in bits) of the object being mapped. Must match the actual object size as defined in the object
dictionary.
8-15 Sub-index of the object to be mapped.
16-31 Index of the object to be mapped.
Because Index 0x1700 is read only, the available mapped objects are fixed. They include the
following:
Sub-index Value Description
0 4 Number of mapped objects.
1 0x60400010 Control word
2 0x607A0020 Target position
3 0x60B10020 Offset added to the velocity command in CSP or CSV mode.
4 0x60B20010 Offset added to the torque command in CSP, CSV or CST modes.
Copley Controls 33