CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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1: Introduction <strong>CANopen</strong> Programmer’s <strong>Manual</strong><br />
RECEIVE PDO MAPPING PARAMETERS INDEX 0X1701<br />
Type Access Units Range Map PDO Memory<br />
Record RW - - NO -<br />
Description<br />
These objects allow the mapping of each of the receive PDO objects to be configured.<br />
NUMBER OF MAPPED OBJECTS INDEX 0X1701, SUB-INDEX 0<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 8 RW - 0-4 NO R<br />
Description<br />
This value gives the total number of objects mapped to this PDO. Once the PDO mapping has<br />
been established by configuring the objects in sub-in<strong>de</strong>xes 1 – 3, this value should be updated to<br />
indicate the actual number of objects mapped to the PDO.<br />
PDO MAPPING INDEX 0X1701, SUB-INDEX 1 – 3<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RW - See Description, below NO R<br />
Description<br />
When a PDO message is received, the data passed with the PDO message (up to 8 bytes) is<br />
used to update the objects mapped to the PDO. The values in the PDO mapping objects i<strong>de</strong>ntify<br />
which object(s) the PDO data maps to. The first object is specified by the value in sub-in<strong>de</strong>x 1; the<br />
second object is i<strong>de</strong>ntified by sub-in<strong>de</strong>x 2, etc.<br />
Each of the PDO mapping values consist of a 32-bit value structured as follows:<br />
Bit Description<br />
0-7 Size (in bits) of the object being mapped. Must match the actual object size as <strong>de</strong>fined in the object<br />
dictionary.<br />
8-15 Sub-in<strong>de</strong>x of the object to be mapped.<br />
16-31 In<strong>de</strong>x of the object to be mapped.<br />
Because In<strong>de</strong>x 0x1701 is read only, the available mapped objects are fixed. They inclu<strong>de</strong> the<br />
following:<br />
Sub-in<strong>de</strong>x Value Description<br />
0 3 Number of mapped objects.<br />
1 0x60400010 Control word<br />
2 0x60FF0020 Target velocity<br />
3 0x60B20010 Offset ad<strong>de</strong>d to the torque command in CSP, CSV or CST mo<strong>de</strong>s.<br />
RECEIVE PDO MAPPING PARAMETERS INDEX 0X1702<br />
Type Access Units Range Map PDO Memory<br />
Record RW - - NO -<br />
Description<br />
These objects allow the mapping of each of the receive PDO objects to be configured.<br />
NUMBER OF MAPPED OBJECTS INDEX 0X1702, SUB-INDEX 0<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 8 RW - 0-4 NO R<br />
Description<br />
This value gives the total number of objects mapped to this PDO. Once the PDO mapping has<br />
been established by configuring the objects in sub-in<strong>de</strong>xes 1 – 4, this value should be updated to<br />
indicate the actual number of objects mapped to the PDO.<br />
34 Copley Controls