Sevcon Gen4 Applications Reference Manual page 83

Setup RPDOs and TPDOs to transmit and receive events between nodes, and map I/O from one
node to applications in another node.
The easiest way to do this is using DVT. If you are using a 3
relevant Object Dictionary indices are listed in Table 5.
Feature Object
indices
1400h-15FFh
Input mapping
1600h-17FFh
1800h-19FFh
Output mapping
1A00h-
1BFFh
Table 5 Objects associated with mapping
An example mapping (Figure 23) shows the movement of PDOs in a master-slave configuration
in which a digital input to the slave has been mapped to the seat switch object in the master.
Master
(RPDO mapping)
seat
switch
traction
application
Object Dictionary
(consumer)
Figure 23 Example of a digital input mapped to the seat switch object via PDO and the CANbus
Gen4 supports RPDO timeout fault detection. This can set a warning, drive inhibit or severe fault
depending on the configuration in 5902
NOTE: RPDO timeout can be used for non-CANopen systems which do not support
heartbeating. By default, RPDO timeout is disabled, and normal CANopen heartbeating protocol
(see section Network Configuration (page 6-5)) is assumed to be used.
Doc. # 177/52701
Rev. 3.3
Notes
RPDO communication parameters
RPDO mapping
TPDO communication parameters
TPDO mapping
1600 - 8h
2124h
(seat switch)
PDO
.
h
rd
party configuration tool, the
1A00 - 8h
(TPDO mapping)
PDO
Object Dictionary
6800h [1]
(digital inputs 1-8)
(producer)
CANbus
Configuration
Slave
digital
inputs
local
I/O
6-13