User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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Object Description
Index Name Object Type Data Type
1600
h
– 1603
h
Receive PDO mapping parameter RECORD PDO Mapping
1600
h
RPDO 1 RECORD PDO Mapping
1601
h
RPDO 2 RECORD PDO Mapping
1602
h
RPDO 3 RECORD PDO Mapping
1603
h
RPDO 4 RECORD PDO Mapping
Table 46: Object Description (1600
h
)
Entry Description
Sub-index Description Access Value Range Default Value
00
h
Number of
mapped appli-
cation objects in
PDO
rw 0. . . 3 Index 1600
h
: 1
Index 1601
h
: 2
Index 1602
h
: 2
Index 1603
h
: 2
01
h
Mapping entry 1 rw UNSIGNED32 Index 1600
h
: 60400010
h
Index 1601
h
: 60400010
h
Index 1602
h
: 60400010
h
Index 1603
h
: 60400010
h
02
h
Mapping entry 2 rw UNSIGNED32 Index 1600
h
: 0
Index 1601
h
: 60600008
h
Index 1602
h
: 607A0020
h
Index 1603
h
: 60FF0020
h
03
h
Mapping entry 3 rw UNSIGNED32 Index 1600
h
: 0
h
Index 1601
h
: 0
h
Index 1602
h
: 0
h
Index 1603
h
: 0
h
Table 47: Entry Description (1600
h
)
Before making changes to PDO definitions, first mark the PDO as inactive by setting bit 31 of its COB-ID
(see section 3.1.18). Then, set its number of mapped PDO entries to zero (sub-index 0 of the appropriate
PDO mapping object). Now, the mapppings themself can be changed. After that, set the number of map
objects to the desired value, and finally activate the PDO by clearing bit 31 of its COB-ID.
3.1.20 Objects 1800
h
– 1803
h
: Transmit PDO Communication Parameter
This object contains the communication parameters for the TPDOs which the device is able to transmit. The
sub-index 00
h
contains the number of valid entries within the communication record. Its value normally is
5, as this object consists of five other entries.
Sub-index 01
h
contains the COB-ID used by this PDO (in bits 10. . . 0). Bit 30 (RTR bit) defines if this PDO
uses RTRs. As RTRs are not supported for PDOs by this CANopen implementation, this bit must always
be set in order to turn off RTR support for this PDO. Bit 31 defines if this PDO is active or not. If this bit
is set, the PDO is inactive, and if this bit is clear, the PDO is active. Before making any changes to a PDO
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