APPENDIX A
pg. 187
Return to TOC Curtis AC F4-A Motor Controller – August 2020
e rst step is to disable RPDO1. Do this by setting the most signicant bit of can_rpdo_1_ cob_id
to true (true = 1). Navigate in the CIT Programmer to the following location: Application Setup
» CAN Interface » PDO Setups. Set can_rpdo_1_cob_id to 80000226h. (Note, the most signicant
byte is 1000b = 8h, as setting the 31st bit = 1 disables the RPDO. See RPDO COB ID, previous page.)
Next, disable the mapping of RPDO1 by setting can_rpdo_1_length to 0.
Map the 16-bit VCL_rottle variable with CAN-object 0x3366.00, by setting can_rpdo_1_ map_1
to a value of 0x33660010. Note that when setting up a PDO that writes to an Operating System
variable, the complete word must be written at once (32-bit write to 32-bit variable , 16-bit write to
16-bit variable). Input all values in hex. In this example, the 16-bit VCL_rottle variable’s length is
10h (i.e., the last 2 bytes).
Map 8 bits of the 32-bit User1 variable with CAN-object 0x4500.00, by setting can_rpdo_1_ map_2 to
a value of 0x45000008. In this example, the 8-bits of User1 variable’s length is 8h (i.e., the last byte).
Set can_rpdo_1_event_timer to a value in milliseconds, if a timeout check is required on Receive
PDO messages.
Set can_rpdo_1_length to the number of variables (not bytes) that are mapped. at is 2 in this example.
Now, the PDO can be re-enabled by setting can_rpdo_1_cob_id to the value 0x000000226 (i.e., the
31st bit is changed from 1 to 0 for Enabled, see the RPDO COB ID table, above).
e RPDO will become active when changing the NMT State to Operational.
Follow this format for mapping RPDO2 – 4, matching the message type (3rd byte) number, while
retaining the same Node ID. For example, for Node ID = 0x26:
RPDO1 ... 80000226 = disabled, 00000226 = enabled
RPDO2 ... 80000326 = disabled, 00000326 = enabled
RPDO3 ... 80000426 = disabled, 00000426 = enabled
RPDO4 ... 80000526 = disabled, 00000526 = enabled
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