Changing The Tpdo Mapping - WIKA MH-4-CAN Special Documentation

3. CANopen communication
Example:
the value 0x61300120 will map the object 6130h (AI input PV) subindex 01 (pressure
value as REAL32) to the PDO. Since the size of REAL32 is 32 bit, data length needs to
be set to 0x20h.
EN
When mapping multiple entries to an TPDO, the data is mapped from subindex 1 to 8.
Example:
The PDO1 with the mapping:
1800h.0 = 2
1800h.1 = 0x61300120
1800h.2 = 0x61500108
would look like:
ID
180h +
Node-ID

3.4.2 Changing the TPDO mapping

In order to change the TPDO mapping a couple of steps need to be executed in the right
order:
Set TPDO invalid by switching bit 31 in the COB-ID (e.g. 1800h.1)
■
Set TPDO mapping invalid by setting the mapping index (e.g. 1A00h.0) to 0
■
Change TPDO mapping entries
■
Set TPDO mapping index top number of used entries
■
Set TPDO valid by switching bit 31 back.
■
Example:
Set TPDO invalid by setting bit "valid" to 1b (1800h.1)
■
ID DLC
601h 8
Disable mapping by setting index 1A00.0 to 00h
■
ID DLC
601h 8
14
DLC Byte0
5 LSB
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
23h 00h
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
2Fh 00h
Byte1 Byte2
6130h subindex 1
18h 01h
Index
1Ah 00h
Index
WIKA special documentation, model MH-4-CAN
Byte3
MSB
81h 01h 00h
Data
00h 00h 00h
Data
Byte4
6150h
subindex 1
C0h
00h