Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 13/23 Baumer – Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
6.4 PDO mapping
The encoder supports dynamic mapping.
6.4.1 Mappable objects
The following objects are mappable (see Object dictionary at Par.10 for further specifications):
Length raw channel 1 value
Object 2000h Subindex 01h, data length 32 Bit
Length raw channel 2
1
value
Object 2000h Subindex 02h, data length 32 Bit
Object 2110h Subindex 01h, data length 32 Bit
Object 2110h Subindex 02h, data length 32 Bit
Object 2195h Subindex 00h, data length 8 Bit
Object 2196h Subindex 00h, data length 32 Bit
Object 2197h Subindex 00h, data length 32 Bit
Object 2198h Subindex 00h, data length 16 Bit
Object 2199h Subindex 00h, data length 8 Bit
Object 6004h Subindex 00h, data length 32 Bit
Object 6020h Subindex 01h, data length 32 Bit
Object 6020h Subindex 02h, data length 32 Bit
Object 6030h Subindex 01h, data length 32 Bit
Object 6030h Subindex 02h, data length 32 Bit
Object 6810h Subindex 00h, data length 16 Bit
Object 6910h Subindex 00h, data length 32 Bit
Slope Long 16bit Angle 2
1
Object 7010h Subindex 00h, data length 16 Bit
Slope Long 32bit Angle 2
1
Object 7110h Subindex 00h, data length 32 Bit
To change PDO mapping first disable the mapping by writing 0 to 0x1A0x-0. Write the desired mapping entry and enable
the mapping again by writing the number of PDO contents to 0x1A0x-0.
6.4.2 Default mapping of absolute encoder redundant with cable-pull
The mappings for both PDOs are the same. The position will be transmitted in byte 0..3.
Byte 0..3: Length A (Object 6020h-1)
Byte 4..7: Length B
Byte 0..3: Angle A (Object 6910h-0)
Byte 4..7: Angle B
1
(Object 7110h-0)
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