Wieland samos PRO Manual page 147

Table 112: Content of SDO 3100
SDO array
3100.1-3
3100.4
...
3100.14
3100.15
NOTICE
The positions of the modules are numbered in the samosPLAN 6 from 0 to 14. Thus the sub-index
for SDO 3100 = Position + 3, with the first three sub-indices for the SP-COPx module being used.
SDO 3100 can only be read.
SDO 3200: Config-CRC
SDO 3200 contains the system CRCs in UDINT format.
SDO 6000: Process data input objects
The 32 bytes of the process input data can be written into SDO array 6000. These are the same data
as in RxPDO 1-4 (see PDO Communication [ch. 10.8, p. 138]). The mapping is as follows:
Table 113: Mapping table for SDO 6000 – RxPDO 1-4
SDO 6000
6000.1
...
6000.8
6000.9-16
6000.17-24
6000.25-32
SDO 6000 can only be written.
SDO 6200: Process data output objects
The 32 bytes of the process output data can be written into SDO array 6200. These are the same data
as in TxPDO 1-4 (see PDO Communication [ch. 10.8, p. 138]). The mapping is as follows:
Table 114: Mapping table for SDO 6200 – TxPDO 1-4
SDO 6200
6200.1
...
6200.8
6200.9-16
6200.17-24
6200.25-32
SDO 6200 can only be read.
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
Data set parameters
Status of Module 0
Status of Module 1
...
Status of Module 11
Status of Module 12
RxPDO
RxPDO 1, Byte 1
...
RxPDO 1, Byte 8
RxPDO 2, Byte 1-8
RxPDO 3, Byte 1-8
RxPDO 4, Byte 1-8
TxPDO
TxPDO 1, Byte 1
...
TxPDO 1, Byte 8
TxPDO 2, Byte 1-8
TxPDO 3, Byte 1-8
TxPDO 4, Byte 1-8
CANopen gateway
Module Size
Controller UDINT
module
Expansion UDINT
... ...
Expansion UDINT
Expansion UDINT
147