Table of Contents
Advertisement
3.5.4
TxPDO 4
These parameters define the mapping of the transmit PDO 4.
Eight bytes can be mapped in total.
CANopen Interface\ PDO Mapping\ TxPDO 4
By UPID [8-32Bit] This parameter can be used for free mapping of any
3.5.5
RxPDO 1
These parameters define the mapping of the receive PDO 1.
Eight bytes can be mapped in total.
CANopen Interface\ PDO Mapping\ RxPDO 1
Control Word [16Bit]
Motion Cmd Header [16Bit]
Motion Cmd Par Byte 0..3 [32Bit] The first 4 bytes of the command
By UPID [8-32Bit]
3.5.6
RxPDO 2
These parameters define the mapping of the receive PDO 2.
Eight bytes can be mapped in total.
CANopen Interface\ PDO Mapping\ RxPDO 2
Motion Cmd Slave Header [16Bit]
Motion Cmd Par Byte 4..7 [32Bit]
Motion Cmd Par Byte 8..9 [16Bit]
NTI AG / LinMot
parameter or variable to TxPDO 4 (mapping through
Unique Parameter ID = UPID, 0 = no mapping). The
corresponding data size in TxPDO 4 is derived from the
mapped UPID.
For Boolean values one byte is used in the PDO with the
lowest bit being the value of the Boolean.
If this Boolean parameter is set, the
control word has to be transmitted with
RxPDO 1.
Motion command interface header.
parameters of the motion command
interface.
This parameter can be used for free
mapping of any parameter or variable to
RxPDO 1 (mapping through Unique
Parameter ID = UPID, 0 = no mapping).
The corresponding data size in RxPDO 1
is derived from the mapped UPID.
For Boolean values one byte is used in
the PDO with the lowest bit being the
value of the Boolean.
To ensure data consistency with
asynchronous communication modes,
the slave headers have to be used
when spreading motion commands
across several PDOs.
The second 4 bytes of the command
parameters of the motion command
interface.
The first half of the third 4 bytes of the
command parameters of the motion
command interface.
Default
Value
0x0000
Default
Value
X
X
X
0x0000
Default
Value
-
X
-
13 / 55
Advertisement
Table of Contents
