Table of Contents
Advertisement
FX2N-32CAN Communication Module
Module Parameterization and Configuration 5.
5.3.1
Prepare the PDO Mapping Table
The Mode B mapping command will modify or add to the current PDO mapping, therefore it is
important to have a clearly defined mapping base before executing any Mode B commands.
Executing the Mode B Mapping commands before creating a PDO mapping base may create
errors in the data transmission or module operation.
The PDO mapping base can be the "Mode 0" mapping or the "Mode A" mapping explained in
previous sections to prepare the default Rx-PDO and Tx-PDO formats as shown in section 5.4.
Another method to create (or reset) a Mapping base is to initialize the Mode B Mapping with a
special instruction at the beginning of the Mode B Mapping Command.
The purpose of the Mode B Mapping Commands is to bind a Tx-PDO from one CANopen node
to a Rx-PDO of another node. This allows certain Buffer Memory information to be transfered/
read in designated nodes around the CANopen network.
The Source parameter specifies the Node number and the specific Tx-PDO. The Destination
parameter specifies the Node number and the specific Rx-PDO that can read the data. The
command consists of four hexadecimal numbers, the two higher byte numbers specify the
node number and the two lower numbers specify the appropriate PDO number.
5-6
Advertisement
Table of Contents
