ICP DAS USA CAN-8823 User Manual page 41

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RxPDO Mapping Object
According to the PDO mapping objects in the figure above, if this
CANopen device gets the RxPDO message in three bytes, the first byte is for
the output value from the DO channels 0~7, and the following two bytes are for
the analog output value. After interpreting the data of the RxPDO message, the
device will actuate the DO and AO channels by the received RxPDO message.
It is worth to mention that TxPDO also operate in the same procedure as
RxPDO message. When the TxPDO trigger events occur, the CANopen device
will send the TxPDO message to the PDO consumers. The values of the bytes
assigned in the TxPDO message will follow the TxPDO mapping object as
shown in the above figure. The first two bytes of the TxPDO message are
respectively for the values from the DI channels 0~7 and channel 8~15. The
following third and forth bytes of the TxPDO message is for the value 0 of the
AI channel. And the fifth and sixth bytes are for the value 1 of the AI channel.
The relationships among the object dictionary, the PDO mapping object and
the PDO message are given below.
CAN-8x23 user's manual (Revision 3.20, Mar/08/2012) ------
DI Standardized Device
Dictionary Object (0x6000)
Subindex1 : DI Channel 0~7
Subindex2 : DI Channel 8~15
DO Standardized Device
Dictionary Object (0x6200)
Subindex1 : DO Channel 0~7
AI Standardized Device
Dictionary Object (0x6401)
Subindex1 : AI Channel 0
Subindex2 : AI Channel 1
AO Standardized Device
Dictionary Object (0x6411)
Subindex1 : AO Channel 0
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TxPDO Mapping Object
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