Example For Rpdo Mapping With Sdo Writes - Kohler Curtis F Series Manual

Curtis AC F2-A, F4-A, F6-A Motor Controllers – FOS 4.5 – April 2022

EXAMPLE FOR RPDO MAPPING WITH SDO WRITES

For this example, to set up RPDO1, and map VCL_Throttle (0x3366 0x00) and User1 (0x4500 0x00):
Send CAN messages in the following table's order to set up RPDO1 mapping on a device with
Node ID 0x28.
An example using PCAN-View messages is shown, steps 1 – 9 in the PCAN-View Comment
column, below.
Note that the data fields are in Little Endian format (e.g., Object Index 0x3366.00 is input as 00 66
33), and this example uses Node ID = 0x28
Header Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Description
The resulting PDO Mapping record:
pg. 250
000 80 28
626 23 00 14
626 2F 00 16
626 23 00 16
626 23 00 16
626 2F 00 16
626 2B 00 14
626 23 00 14
000 01 28
PDO Record Mapped Object Data
1400.01 00 00 02 28h
1400.05 00 C8h
1600.00 02h
1600.01 33 66 00 10h
1600.02 45 00 00 08h
01 28 02 00
00 00
01 10 00 66
02 08 00 00
00 02
05 C8 00
01 28 02 00
Description
RPDO1 communication object enabled for node 0x28
RPDO1 timeout set to 200 ms
RPDO1 map length of 2
RPDO1 first mapped object 3366.00 (VCL_Throttle) with 16 bit length
RPDO1 second mapped object 4500.00 (User1) with 8 bit length in RPDO1
Return to TOC
Send NMT Pre-Operational
node 0x28
4-Byte SDO Write:
80
Disable RPDO1
1-byte SDO Write:
Disable Map/Set Length to 0
4-byte SDO Write:
33
Map 1 Object as VCL_Throttle
st
4-Byte SDO Write:
45
Map 2 Object as User1
nd
1-Byte SDO Write:
Enable Map/Set Length to 2
2-byte SDO Write:
Set PDO Timeout to 200 ms
4-Byte SDO Write:
00
Enable PDO
Send NMT Operation node 0x28
APPENDIX A