I/O Configuration; Object Mapping - Sevcon Gen4 Applications Reference Manual

I/O configuration

Ensure you have completed the CANopen network setup and Motor Characterization processes
described above.
The individual characteristics and mapping of the I/O in your application need to be setup. This
can be done manually, or one of a selection of predefined setups can be selected. Predefines
setups exist for many of the common vehicle functions such as standalone traction, standalone
pump and twin traction.
For configuration, it is necessary to use PDOs and VPDOs to map application objects on the
master node (2000 to 24FF
h
To configure I/O:

Either configure PDOs and VPDOs to map application objects on the vehicle master node
to hardware I/O objects on other nodes, or select a pre-defined configuration and use auto-
configuration to set up PDOs and VPDOs

Setup each hardware I/O object, including wire-off protection.

Object mapping

To enable the controller to perform the functions required in your system it is necessary to map
object to object (e.g. a measured input signal mapped to a steer operation).
This is achieved by setting up PDOs (node to node mapping) and VPDOs (internal mapping on
each controller) as described below.
Apply mapping to Gen4 as follows:

Standalone controllers: setup VPDOs only

Networked controllers: setup VPDOs and PDOs
NOTE: Before starting the mapping process it is a good idea to draw out a map of what you want
to do. The amount of mapping required depends on the electrical wiring of your vehicle. Check
to see if the default settings satisfy your needs before making changes.
VPDO mapping
VPDO mapping is defined by objects in the range 3000
Use DVT, or any other configuration tool, to access these objects.
Feature Object
indices
Motor 3000h
3300h
Input mapping
3400h
3100h
Output mapping
3200h
Doc. # 177/52701
Rev. 3.3
) to the hardware I/O objects on all other nodes (6800
h
Notes
Used to map the master to the type of local motor
Used to map digital input signals to application inputs
Used to map analogue input signals to application
inputs
Used to map application outputs to digital output
signals
Used to map application outputs to analogue output
signals
Configuration
to 3FFF as shown in the table below.
h h
to 6FFF ).
h h
6-11