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FX2N-32CAN Communication Module
5.1
Factory Default Mapping/Mode 0 Mapping
The Factory Default Mapping conforms to CANopen specification DS-301 and contains only
the first 2 Tx-PDOs and the first two Rx-PDOs. Please refer to the two Tables in section 5.4
that give, repectively, the relationships between Tx-PDO number/COB-IDs/BFM# and the
Rx-PDO/COB-IDs/BFM#.
By executing the Mode 0 mapping command shown below the number of automatically
assigned Tx-PDOs becomes four instead of two. Four Rx-PDOs are also mapped
automatically.
Table 5.1:
Mode 0 Mapping Command
BFM #
BFM #1000
Mapping successfully established (8901)
BFM #1001
Unused
:
Unused
BFM #1066
Unused
The BFM #0 - #15 are distributed to Rx-PDOs 1-4 and Tx-PDOs 1-4 as shown in section 5.4.
This setting is useful for a network that features many different types of node or as a base for a
network mapping configured with the Mode B mapping command.
The PDOs from 5-30 (BFM #16 ~ #19 and BFM #100 ~ #199) are disabled in the default
settings but further mapping of BFM #16 ~ #19 and BFM #100 ~ #199 can be accomplished
using the Mode B mapping technique.
READ (FROM)
Module Parameterization and Configuration 5.
WRITE (TO)
Command (8900 hex)
Unused
Unused
Unused
5-3
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