User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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3.1.21 Objects 1A00
h
– 1A03
h
: Transmit PDO Mapping Parameter
These objects contain the mapping parameters for the TPDOs the device is able to transmit. The sub-index
00
h
contains the number of valid entries within the mapping record. This number of entries is also
the number of the application variables which shall be transmitted with the corresponding TPDO. The
sub-indices from 01
h
to the number of entries contain the information about the mapped application
variables. These entries describe the PDO contents by their index, sub-index and length.
Object Description
Index Name Object Type Data Type
1A00
h
– 1A03
h
Transmit PDO mapping parameter RECORD PDO Mapping
1A00
h
TPDO 1 RECORD PDO Mapping
1A01
h
TPDO 2 RECORD PDO Mapping
1A02
h
TPDO 3 RECORD PDO Mapping
1A03
h
TPDO 4 RECORD PDO Mapping
Table 50: Object Description (1A00
h
)
Entry Description
Sub-index Description Access Value Range Default Value
00
h
Number of
mapped aapli-
cation objects in
PDO
rw 0. . . 3 Index 1A00
h
: 1
Index 1A01
h
: 2
Index 1A02
h
: 2
Index 1A03
h
: 2
01
h
Mapping entry 1 rw UNSIGNED32 Index 1A00
h
: 60410010
h
Index 1A01
h
: 60410010
h
Index 1A02
h
: 60410010
h
Index 1A03
h
: 60410010
h
02
h
Mapping entry 2 rw UNSIGNED32 Index 1A00
h
: 0
Index 1A01
h
: 60610008
h
Index 1A02
h
: 60640020
h
Index 1A03
h
: 606C0020
h
03
h
Mapping entry 3 rw UNSIGNED32 Index 1A00
h
: 0
h
Index 1A01
h
: 0
h
Index 1A02
h
: 0
h
Index 1A03
h
: 0
h
Table 51: Entry Description (1A00
h
)
Before making changes to PDO definitions, first mark the PDO as inactive by setting bit 31 of its COB-ID
(see section 3.1.20). 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.
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