Siemens MICROMASTER 420 Operating Instructions Manual page 78

Information for the CANopen master
Initially, values that correspond to the lowest bit numbers must be mapped.
As example, here, the following mapping should be set for RPDO_5:
Control word, free object 2802.03, setpoint (reference) torque and modes of
operation.
The following entries are written into the objects of RPDO5:
Set the number of mapping entries to 0 (write 0 to 1604H subindex zero).
1604H index 01 = control word = 60400010H
1604H index 02 = free object 2802.03 = 28020310H
list = 3
1604H index 03 = setpoint (reference) torque = 60710010H
from list = 5
1604H index 04 = modes of operation = 60600008H
list = 7
Set the number of mapping entries to 4 (write 4 to 1604H subindex 0) in order to
enable the PDO
This would be correct and the mapping entry would be used in RPDO5.
However, if the entries are written as follows:
Set the number of mapping entries to 0 (write 0 to 1604H subindex zero).
1604H index 01 = control word = 60400010H
1604H index 02 = setpoint (reference) torque = 60710010H
from list = 5
1604H index 03 = free object 2802.03 = 28020310H
list = 3
1604H index 04 = modes of operation = 60600008H
list = 7
Set the number of mapping entries to 4 (write 4 to 1601H subindex 0), in order to
enable PDO.
This mapping sequence would result in an error!
The free object 2802.03 must be mapped in a lower object directory subindex than
the setpoint (reference) torque. This error would then have been sent as EMCY
message to the CANopen master - the mapping would not have been used.
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Mapping sequence from list = 1
Mapping sequence from
Mapping sequence
Mapping sequence from
Mapping sequence from list = 1
Mapping sequence
Mapping sequence from
Mapping sequence from
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
Issue 01/05