CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 1: Introduction<br />
PDO MAPPING INDEX 0X1702, SUB-INDEX 1 – 2<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 0x1702 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 2 Number of mapped objects.<br />
1 0x60400010 Control word<br />
2 0x60710010 Target torque<br />
TRANSMIT PDO COMMUNICATION PARAMETERS INDEX 0X1800 – 0X1807<br />
Type Access Units Range Map PDO Memory<br />
Record RW - - NO -<br />
Description<br />
These objects allow configuration of communication parameters of each transmit PDO object.<br />
Sub-in<strong>de</strong>x 0 contains the number of sub-elements of this record.<br />
PDO COB-ID INDEX 0X1800 – 7, SUB-INDEX 1<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RW - See<br />
Default Values, below.<br />
NO R<br />
Description<br />
This object holds the CAN object ID used by the PDO. The ID is formatted as follows:<br />
Bit Description<br />
0-10 11-bit i<strong>de</strong>ntifier for standard (CAN 2.0A) i<strong>de</strong>ntifiers, or the lower 11 bits for exten<strong>de</strong>d (CAN 2.0B) i<strong>de</strong>ntifiers.<br />
11-28 Upper 18 bits of exten<strong>de</strong>d i<strong>de</strong>ntifiers. For standard i<strong>de</strong>ntifiers these bits should be written as zeros.<br />
29 I<strong>de</strong>ntifier format. This bit is clear for standard (11-bit) i<strong>de</strong>ntifiers, and set for exten<strong>de</strong>d (29-bit) i<strong>de</strong>ntifiers.<br />
30 If set, remote transmit requests (RTR) are not allowed on this PDO. If clear, the PDO is transmitted in<br />
response to a remote request.<br />
31 I<strong>de</strong>ntifies the PDO as valid if clear. If set, the PDO is disabled and its mapping may be changed.<br />
Copley Controls 35
Change language