Leuze electronic CML 720i Ex Operating Instructions Manual page 85

Parameter
Transmit PDO mapping parameter 1
Transmit PDO mapping parameter 2
Transmit PDO mapping parameter 3
Transmit PDO mapping parameter 4
....
Transmit PDO mapping parameter 28
The following standard procedure for the TPDO mapping may vary depending on the used con-
figuration software.
Standard procedure for the TPDO mapping:
 Set the device to the
 In the desired TPDO Transmit PDO communication parameter 1 ... 28 (objects 0x1800 ... 0x181B), set
the COB-ID (sub-index 1) to 0x80000xxx (where the xxx part is node-dependent) and transmit this
COB-ID to the device.
This sets the invalid bit, thereby making the TPDO entry invalid.
 In the desired TPDO Transmit PDO mapping parameter 1 ... 28 (objects 0x1A00 ... 0x1A1B), set the
entry for the number of the following elements (sub-index 0,
device.
An existing mapping is thereby deleted.
 Then reset this entry to the number of desired mapping elements, whereby a maximum of 4 elements
per TPDO are possible.
Transmit this entry back to the device.
 Set the mapping entries to the desired values. Each of the mapping sub-indices contains a 32-bit value
that is structured as follows: SDO object number, sub-index and length. Normally (depending on the
used master), the respective settings can be selected from a list.
 After completing the mapping, transmit the complete TPDO Transmit PDO mapping parameter 1 ... 28
object to the device.
 In the TPDO Transmit PDO communication parameter 1 ... 28 object (objects 0x1800 ... 0x181B), set
the transmission type (sub-index 2
Event timer
).
 In the same TPDO object, set the COB-ID (sub-index 1) to 0x00000xxx (where the xxx part is node-
dependent) and transmit the complete TPDO object including all sub-indices to the device. This resets
the invalid bit, thereby making the TPDO entry valid.
 Set the device to the
With operating mode set to
NOTICE
Boundary conditions for object descriptions!
 Beginning with firmware V2.16, no process data settings are automatically stored in non-volatile mem-
ory (remanent). The <Save> command is always to be used.
Leuze electronic
Index Sub- Data
(hex) index type
(hex)
1A00 t32U
1A01 t32U
1A02 t32U
1A03 t32U
.... ....
1A1B t32U
Preoperational
state.
Transmission type
Operational
state.
Transmission type
CML 720i Ex
Starting up the device - CANopen interface
Access Min. Max. value
value
RW
RW
RW
RW
....
RW
numOfEntries
) and, if applicable, the event timer (sub-index 5,
, the device starts to send process data (PDOs).
Default Explanation
Mapped objects
in PDO 1
Mapped objects
in PDO 2
Mapped objects
in PDO 3
Mapped objects
in PDO 4
....
Mapped objects
in PDO 28
) to 0 and transmit this to the
85