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Dynamic PDO Mapping for DI/AI/DO/AO Channels
Step 38. Users can use the 5th TxPDO to create a new PDO communication
with PDO COB-ID 0x182, which is useless for the CAN-8423. Before setting
the COB-ID of a PDO, users have to check the bit 31 of the COB-ID first. Only
the COB-ID with the value 0 on the bit 31 can be changed. So the COB-ID can
be configured directly according to the 5th TxPDO is invalid.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
1
1
0
0
0
0
SDO client
ccs
:
1
n
:
0
e
:
1
s
:
1
m
:
05 18 01
d
:
82 01 00 00
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
1
0
1
1
0
0
SDO client
scs
:
3
m
:
05 18 01
Step 39. Users can create a new PDO mapping object for the 5th TxPDO.
Before getting the device objects into the index 0x1A05, users have to check
the value of the index 0x1A05 with sub -index 00. If the value is not equal to 0,
any modification will be rejected. In this case, it is necessary to have the value
in 0. Therefore, users have to fill the DI0~DI7 of the I-8053 into the index
0x1A05 with sub-index 01.
CAN-8x23 user's manual (Revision 3.20, Mar/08/2012) ------
Node ID
RTR
4
3
2
1
0
0
0
0
0
1
0
Node ID
RTR
4
3
2
1
0
0
0
0
0
1
0
Data
Length
0
1
2
8
23
05
18
Data
Length
0
1
2
8
60
05
18
8-byte Data (byte)
3
4
5
01
82
01
00
SDO server
(CAN-8x23)
8-byte Data (byte)
3
4
5
01
00
00
00
SDO server
(CAN-8x23)
6
7
00
6
7
00
131
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