CANopen Programmer's Manual - Maccon.de

1: Introduction CANopen Programmer’s Manual
TRANSMIT PDO MAPPING PARAMETERS INDEX 0X1B00
Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
These objects allow the mapping of each of the transmit PDO objects to be configured.
NUMBER OF MAPPED OBJECTS INDEX 0X1B00, SUB-INDEX 0
Type Access Units Range Map PDO Memory
Unsigned 8 RW - 0-4 NO R
Description
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 0X1B00, SUB-INDEX 1 – 5
Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below NO R
Description
When a PDO message is transmitted, the data passed with the PDO message (up to 8 bytes) is
gathered from 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. This value 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 0x1B00 is read only, the objects that can be mapped are fixed. The available
mapped objects are as follows:
Sub-index Value Description
0 4 Number of mapped objects.
1 0x60400010 Control word
2 0x60640020 Actual position
3 0x60F40020 Position error
4 0x606C0020 Actual velocity
5 0x60770010 Actual torque
38 Copley Controls