BONFIGLIOLI Vectron Active Cube User Manual page 69

Example*:
Read Request
Reply
Write Access
Reply *
CB: Control byte
Note, that Object 1400/1 Highest bit has to be deactivated first for the correct Write
*
access for Object 1600/n. See also the Mapping sequence described in the following.
Mapping Sequence
The mapping sequence requires five steps:
Step 1:
Step 2:
Step 3:
Step 4:
Step 5:
TxPDO 0x1600 is used exemplary above. The same procedure applies to 0x1601 and
0x1602. In these cases,
0x1402.
Step 1:
Response
Step 2:
Response
Step 3.1:
Response
Step 3.2
Response
Step 3.3
Response
Step 4:
Response
Step 5:
Response
04/13
COB ID CB Index
601 40 00 16
581 43 00 16
601 2F 00 16
581 60 00 16
SI: Sub Index All values in hexadecimal without leading 0x
Set PDO to "not valid" (0x1400, Subindex 1, Bit 31 = 1)
Set sub index 0 to 0 (deactivate current mapping, 0x1600, Sub index 0
= 0)
Set sub index 1 ... n to the new objects (0x1600, Subindex 1..n = new
object)
Set sub index 0 to the number of mapped objects (activate new mapping,
0x1600, Subindex 0 = n)
Set PDO valid (0x1400, Subindex 1, Bit 31 = 0)
0x1400 has to be substituted accordingly with
Example (Node ID = 1):
COB ID Control byte Index
601 23
581 60
601 2F
581 60
601 23
581 60
601 23
581 60
601 23
581 60
601 2F
581 60
601 23
581 60
CM-CAN ACU
SI Data
01 00 00 00 00
01 10 00 40 60
00 00
00 00 00
Subindex
LSB MSB Subindex
00 14 01
00 14 01
00 16 00
00 16 00
00 16 01
00 16 01
00 16 02
00 16 02
00 16 03
00 16 03
00 16 00
00 16 00
00 14 01
00 14 01
0x1401 or
Data Data
LSB ... ... MSB
01 02 00 80
00 00 00 00
00
00
10 00 42 60
00 00 00 00
10 00 40 60
00 00 00 00
08 00 60 60
00 00 00 00
03
00
01 02 00 00
00 00 00 00
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