CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
*
Note, that Object 1400/1 Highest bit has to be deactivated first for the correct Write
access for Object 1600/n. See also the Mapping sequence described in the following.
Mapping Sequence
The mapping sequence requires five steps:
Set PDO to “not valid” (0x1400, Subindex 1, Bit 31 = 1)
Set sub index 0 to 0 (deactivate current mapping, 0x1600, Sub index 0
= 0)
Set sub index 1 … n to the new objects (0x1600, Subindex 1..n = new
object)
Set sub index 0 to the number of mapped objects (activate new mapping,
0x1600, Subindex 0 = n)
Set PDO valid (0x1400, Subindex 1, Bit 31 = 0)
TxPDO 0x1600 is used exemplary above. The same procedure applies to 0x1601 and
0x1602. In these cases, 0x1400 has to be substituted accordingly with 0x1401
04/13 CM-CAN ACU 69
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