Festo CiA 402 Manual page 25

3 CANopen access procedure
Object
Objects to be transmitted
(first_mapped_object ...
fourth_mapped_object)
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Comment
For each object contained in the PDO, the motor controller must be
told the corresponding index, sub-index and length. The stated
length must agree with the stated length in the object dictionary.
Parts of an object cannot be mapped.
The mapping information has the following format:
xxx_mapped_object
Index (hex)
Sub-index (hex)
Length of the object (hex)
To simplify the mapping process, the following procedure is
prescribed when writing the mapping objects:
1. The number of objects to be transmitted
(number_of_mapped_objects) is set to 0.
2. The parameters first_mapped_object ... fourth_mapped_object
may be written. The overall length of all objects is not relevant at
this time.
3. The number of objects to be transmitted is set to a value between
1 ... 4. The length of all these objects must now not exceed
64 bits.
16 bit
8 bit
8 bit
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