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54 •
CANopen
The following structure has to be achieved in the mapping parameters of the
nd
2
TxPDO Mapping Parameter Structure, Index 0x1A01
Sub-Index:
0
1
2
These objects are saved by means of SDO transmissions:
2. Mapping digital input byte
Send
Receive
1. Mapping diagnosis byte
Send
Receive
Number of mapping objects = 2, set on Sub-Index 0
Send
Receive
TxPDO to be able to realize the task.
application object
Index:
2
0x2000
0x5900
CAN ID
0x608
0x588
CAN ID
0x608
0x588
CAN ID
0x608
0x588
Sub-Index:
Object length in Bit
2
0x08
1
0x08
Data
0x23 01 1A 01 08 02 00 20
23
0 Datenbytes ungültig
011A Index (low byte first)
01
Sub-Index
08
Data width of the input
02
Sub-Index, where the 2. input locates
in the Manufacturer Device Profile
00 20 Index (low byte first) where the 2.
input locates in the
Manufacturer Device Profile
0x60 01 1A 01 xx xx xx xx
60
OK
011A Index(Lowbyte first)
01
Sub-Index
Data
0x23 01 1A 02 08 01 00 59
0x60 01 1A 02 xx xx xx xx
Data
0x2F 01 1A 00 02 xx xx xx
0x60 01 1A 00 xx xx xx xx
Fieldbus Dependent I/O Module
CANopen
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