IFM Electronic Ecomat Mobile Series System Manual page 106

CAN in the ecomatmobile controller
In the default PDO mapping of the CAN device the index/sub-index entry is then assigned to a receive
PDO as mapping entry. The PDO properties can be defined via the dialogue known from Add and
configure CANopen slaves (→ page 89).
Only objects from the parameter manager with the attributes [read only] or [write only] are marked in
the possibly generated EDS file as mappable (= can be assigned) and occur in the list of the
mappable objects. All other objects are not marked as mappable in the EDS file.
NOTE
If more than 8 data bytes are mapped to a PDO, the next free identifiers are then automatically used
until all data bytes can be transferred.
To obtain a clear structure of the identifiers used you should add the correct number of the receive and
transmit PDOs and assign them the variable bytes from the list.
Changing the standard mapping by the master configuration
You can change the default PDO mapping (in the CAN device configuration) within certain limits by the
master.
The rule applies that the CAN device cannot recreate entries in the object directory which are not yet
available in the standard mapping (default PDO mapping in the CAN device configuration). For a PDO,
for example, which contains a mapped object in the default PDO mapping no second object can be
mapped in the master configuration.
So the mapping changed by the master configuration can at most contain the PDOs available in the
standard mapping. Within these PDOs there are 8 mapping entries (sub-indices).
Possible errors which may occur are not displayed, i.e. the supernumerary PDO definitions /
supernumerary mapping entries are processed as if not present.
In the master the PDOs must always be created starting from 1400
parameter) or 1800
16
interruption.
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ifm System Manual ecomatmobile
(transmit PDO communication parameter) and follow each other without
SmartController (CR2500) V05
(receive PDO communication
16
ifm CANopen library