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7.6 Example PDO Mapping
The inputs 9 to 16 (2
1 - 8 are to be mapped using the TxPDO 2. The CAN identifier 0x432 is to be
used for transmission which is to be performed synchronous with each 3
SYNC object.
The default CAN IDs for the SDOs are used. The setting is made at node 8.
xx - are not evaluated
TxPDO 2:
Index for the Communication Record:
Index for the Mapping Parameter Structur:
PDO deactivating:
Write via SDO the value 0x80 00 00 00 in the Index 0x1801 Sub-Index 01.
Send
Receive
Mapping deactivating:
Set number of Mapping objects in Sub-Index 0 = 0
Send
Receive
Mapping Parameter Structure overwriting:
The data are available via the following application objects.
application object:
2. digital input byte
1. Diagnosis byte
Fieldbus Dependent I/O Module
CANopen
nd
digital input byte) and the diagnosis byte of the outputs
CAN ID
0x608
0x588
CAN ID
0x608
0x588
Index
0x2000
0x5900
0x1801
0x1A01
Data
0x23 01 18 01 00 00 00 80
0x60 01 18 01 xx xx xx xx
Data
0x2F 01 1A 00 00 xx xx xx
0x60 01 1A 00 xx xx xx xx
Sub-Index
2
1
CANopen
• 53
rd
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