BONFIGLIOLI Vectron Active Cube User Manual page 74

Example*:
Read Request
Reply
Write Access
Reply *
CB: Control byte
Note, that Object 1400/1 Highest 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 0x1A00 is used exemplary above. The same procedure applies to 0x1A01 and
0x1A02. In these cases,
0x1802.
Step 1:
Response
Step 2:
Response
Step 3.1:
Response
Step 3.2
Response
Step 3.3
Response
Step 3.4
Response
Step 4:
Response
Step 5:
Response
Resulting mapping
Control effort
(0x6044)
00 00
74
COB ID CB Index
601 40 00 1A
581 43 00 1A
601 2F 00 1A
581 60 00 1A
SI: Sub Index All values in hexadecimal without leading 0x
Set PDO to "not valid" (0x1800, subindex 1, Bit 31 = 1)
Set subindex 0 to 0 (deactivate current mapping, 0x1A00, subindex 0
= 0)
Set subindex 1 ... n to the new objects (0x1A00, subindex 1..n = new
object)
Set subindex 0 to the number of mapped objects (activate new mapping,
0x1A00, subindex 0 = n)
Set PDO valid (0x1800, subindex 1, Bit 31 = 0)
0x1800 has to be substituted accordingly with
Example (Node ID = 1):
COB ID Control
byte
601 23
581 60
601 2F
581 60
601 23
581 60
601 23
581 60
601 23
581 60
601 23
581 60
601 2F
581 60
601 23
581 60
Status word
(0x6041)
00 00
CM-CAN ACU
SI Data
01 00 00 00 00
01 10 00 41 60
00 00
00 00
Index Sub index
LSB MSB Sub index
00 18 01
00 18 01
00 1A 00
00 1A 00
00 1A 01
00 1A 01
00 1A 02
00 1A 02
00 1A 03
00 1A 03
00 1A 04
00 1A 04
00 1A 00
00 1A 00
00 18 01
00 1A 00
Digital In actual
values (0x3001)
00
0x1801 or
Data Data
LSB ... ... MSB
84 01 00 80
00 00 00 00
00 00
00 00
10 00 44 60
00 00 00 00
10 00 41 60
00 00 00 00
10 00 01 30
00 00 00 00
10 00 02 30
00 00 00 00
04 00
00 00
84 01 00 00
00 00 00 00
Digital In actual
values (0x3002)
00
04/13