Pdo Parameter Mapping Record - Vacon OPTE6 User Manual

CANopen protocol description
Event timer
For a transmit PDO event, the timer defines the maximum interval between the transmissions, if
the transmission type is set to 0xFE or 0xFF.
For a receive PDO event, the timer activates the deadline monitoring. The deadline monitoring is
activated at the first received PDO. If the time between the after the last PDO received is longer
than defined in the event timer, a fault will occur.
Event timer is 16bit unsigned value that is given as multiple of 1ms. Zero value means that the event
timer is disabled.
Sync start value
Sync start value gives the possibility to compensate network peak traffic in case of sync
transmission mode. If the sync start value is zero, the normal sync behaviour for the PDO is used.
If the sync start value is greater than zero, the PDO waits for the SYNC message that contains the
counter value. When the counter value of a SYNC message equals the SYNC start value, the first
SYNC message is regarded as received. The sync start value must not be changed while the PDO
exists. See the SYNC message format in Table 28.
3.5.4

PDO parameter mapping record

Each PDO consists of a maximum of 8 bytes of mapped data. To data map the PDO, use a
corresponding mapping record that consists of index, sub-index and the length of the mapped
object.
Table 26: PDO mapping structure
31
Index
To data map the PDOs, first disable the related PDO COB ID in the pre-operational state. In the
mapping structure, write the sub-index 0 to zero (number of mapped objects). Then write the
mapping structures on the mapping parameter record, starting from the sub-index 1. When you
have written all the necessary structures, write the sub-index 0 to correspond to the mapped
objects.
Table 27: PDO mapping parameter record
Indexes Sub-index
0
0x1600
0x1601
1
0x1602
2
0x1A00
0x1A01
3
0x1A02
4
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16 15
Sub-index
Name
Number of mapped objects in
PDO
1st object to be mapped
2nd object to be mapped
3rd object to be mapped
4th object to be mapped
8 7
Length
Data type Access
UNSIGNED8 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
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