Festo CiA 402 Manual page 27

3 CANopen access procedure
EXAMPLE
The following objects should be transmitted in one PDO:
Name of the object
statusword
modes_of_operation_display
position_actual_value
The first transmit PDO (TPDO 1) should be used, which should always be sent whenever one of the
digital inputs changes, but at a maximum of every 10 ms. As an identifier for this PDO, 187
be used.
1. Deactivating PDO
If the PDO is active, it must first be deactivated.
Reading out of the identifier:
Setting of bit 31 (deactivate):
2. Deleting number of objects
Set the number of objects to 0 in order to be able to
change the object mapping.
3. Parametrisation of objects that are to be mapped
The above-listed objects must be combined into a 32 bit value:
Index = 6041 Subindex = 00
h
Index = 6061 Subindex = 00
h
Index = 6064 Subindex = 00
h
4. Parametrisation of number of objects
The PDO should contain 3 objects.
5. Parametrisation of transmission type
The PDO should be sent when changes (to the digital
inputs) are sent.
To ensure that only changes to the actual position
value result in transmission, the PDO is masked so
that only the 16 bits of the object 6064
through".
The PDO should be sent no more than every 10 ms
(100 x 100 μs).
6. Parametrisation of identifiers
The PDO should be sent with identifier 187
Writing new identifier:
Activating by deletion of bit 31:
Note that parametrisation of the PDOs may generally only be changed when the network
status (NMT) is not operational (
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Index_Subindex
6041 _00
h h
6061 _00
h h
6064 _00
h h
Length = 10
h h
Length = 08
h h
Length = 20
h h
"come
h
.
h
Chapter 3.3.3).
Function
Controller status
Operating mode
Actual position value
40000181 = cob_id_used_by_pdo
h
cob_id_used_by_pdo = C0000181
number_of_mapped_objects = 0
first_mapped_object = 60410010
second_mapped_object = 60610008
third_mapped_object = 60640020
number_of_mapped_objects = 3
transmission_type = FF
transmit_mask_high = 00FFFF00
transmit_mask_low = 00000000
inhibit_time = 64
h
cob_id_used_by_pdo = C0000187
cob_id_used_by_pdo = 40000187
should
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