CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
*
Note, that Object 1400/1 Highest 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” (0x1800, subindex 1, Bit 31 = 1)
Set subindex 0 to 0 (deactivate current mapping, 0x1A00, subindex 0
= 0)
Set subindex 1 … n to the new objects (0x1A00, subindex 1..n = new
object)
Set subindex 0 to the number of mapped objects (activate new mapping,
0x1A00, subindex 0 = n)
Set PDO valid (0x1800, subindex 1, Bit 31 = 0)
TxPDO 0x1A00 is used exemplary above. The same procedure applies to 0x1A01 and
0x1A02. In these cases, 0x1800 has to be substituted accordingly with 0x1801
Digital In actual
values (0x3001)
Digital In actual
values (0x3002)
74 CM-CAN ACU 04/13
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