Mapping Format - ABB FCAN-01 User Manual

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Mapping format

Note: Subindex 0h contains the number of valid entries within the
mapping record. This number is also the number of the application
variables (parameters), which shall be transmitted/received with
the corresponding PDO. The subindexes from 1h to the number of
objects contain information about the mapped application
variables.
The mapping values in the CANopen object are hexadecimal
coded. The following table presents an example of the PDO
mapping entry structure:
Type MSB
UINT32 31
Description
If the PDO mappings are configured with fieldbus configuration
parameter group B (group 2) and group C (group 3), only objects
belonging to the virtual address area of the drive control and to the
drive parameter area can be mapped, that is, objects 6040h,
6042h, 6041h, 6044h, 6064h, 60FFh, 606Ch, 607Ah, 6077h,
6071h, 2001h, 2002h, 2003h, 2004h, 2005h, 2006h, 2000h03,
2000h06 and objects 4000h...4063h. The mapping values are in
decimal format and only virtual addresses of the drive control
(1...6 and 11...16) or drive parameter numbers (101...9999) can be
set. FCAN-01 converts the values to CANopen objects. The length
of the object is detected automatically.
Note: The PDO mappings should be started from subindex 1h. If a
PDO mapping entry is zero, the mapping for that subindex and
from that subindex onwards is neglected. That is, if there are
zeros in the PDO mapping, only objects from subindex 1h to the
first zero are taken into account.
Communication
16 15
Index
eg, 6048h
(16 bits)
8 7
Subindex Object length in bits
eg, 02 h eg, 10h = 16 bits
(8 bits)
LSB
0
(8 bits)