Elmomc CANopen DS 301 Implementation Guide Manual do Utilizador descarregar pdf (Página 73)

 Object description:

Index 1600h - 1603h

Name Receive PDO Mapping

Object code RECORD

Data type PDO Mapping

Category Conditional: mandatory for each supported PDO

 Entry description:

Sub-index 0

Description Number of mapped application object in PDO

Entry category Optional

Access Read/Write

PDO mapping No

Value range UNSIGNED32

Default value 1

Sub-index 1

Description PDO mapping for first and last application object to

be mapped

Entry category Optional

Access Read/Write

PDO mapping No

Value range UNSIGNED32

Default value Object 1600h(1): 0x20010040 (controlword)

Object 1601h(1): 0x20120040 (binary interpreter)

Object 1602h: 0

Object 1603h: 0

Default value 0x581

Notes:

 Up to 8 objects can be mapped to a single RPDO.

 Dummy entries are supported by the Elmo drive.

 The object can be mapped during the PRE OPERATIONAL stage.

 Dynamic mapping is allowed during the OPERATIONAL stage. The SDO client

is responsible for data consistency.

CANopen DS 301 Implementation Guide Device-specific Objects

MAN-CAN301IG (Ver. 2.1)

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Elmomc CANopen DS 301 Implementation Guide Manual do Utilizador Página 73