6�9�1 Pdo Configuration - IFM Efector 400 RM7 Series Device Manual

CANopen encoder
The structure of the entries of the object "transmit PDO mapping parameter" in
subindices 1���3 is as follows:
Byte MSB Byte MSB - 1 Byte LSB + 1 Byte LSB
object subindex object length (number of bits)
6.9.1 PDO configuration
To change the PDO mapping the encoder must be in the NMT mode pre-
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operational� The PDO must be set to "not valid"� This is done by deleting bit
31 (MSB) in subindex 1 "COB-ID used by PDO" in the object "transmit PDO
communication parameters"�
The PDO "transmit PDO mapping parameter" must be deactivated� To do so, set
the subindex 0 to 0�
To reconfigure the PDO mapping transmit the data of the corresponding object,
the subindex and length of the first object to "transmit PDO mapping parameter"
in subindex 1� Then proceed in the same way for the optional second and third
objects and transmit to "transmit PDO mapping parameter" in subindices 2 and 3�
The "transmit PDO mapping parameter" subindex 0 must be set to the number of
the objects mapped in the PDO (1-3)�
The reconfigured PDO mapping must be set to "valid" by the setting bit 31 (MSB)
in subindex 1 "COB-ID used by PDO" in the object "transmit PDO communication
parameters"� After setting the encoder in the NMT mode operational the
reconfigured PDO mapping is enabled�
The PDO mapping can be stored in the non-volatile EEPROM using the object
0x1010 "store parameter field" (subindex 1 "all parameters" or subindex 2
"communication parameters")�
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