03/12 EM-ABS-01 for ACU 69
7.11.5 Virtual links
A PDO telegram contains 0 ...8 data bytes according to CANopen. A mapping for any
kind of objects can be done in these data bytes.
For the system bus, the PDO telegrams are firmly defined with 8 data bytes. The
mapping is not done via mapping parameters as with CANopen, but via the method
of sources and links.
Each function provides its output data via a source. These sources are defined via
source numbers. The input data of functions are defined via parameters. The link of a
data input to a data output is done via the assignment of parameters to source num-
bers.
Example 1:
Function A
Function C
Function B
Source
Parameter 125
Parameter 187
Source
-
-
No. 27
No. 5
In example 1, the two inputs of function C are linked to the outputs of the functions
A and B. The parameterization for this connection is thus:
Function C
Parameter 125 = Source-No. 27
Parameter 187 = Source-No. 5
Example of a virtual connection in VPlus:
Parameter
(Softwarefunction)
e.g.
Start-clockwise
068
Source-No.
(Operation mode)
e.g. 71-S2IND
Digital input
The assignment of the operation modes to the software functions available can be
adapted to the application in question.
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