Infranor XtrapulsGem User Manual

33
X
trapulsPac - User Guide
Chapter 3 – Reference
PDO Mapping
The sub-index 0 of mapping parameter contains the number of valid entries within the mapping record. This
number of entries is also the number of application variables which shall be transmitted/received with the
corresponding PDO. The sub-index 1 to number of entries contains the information about the mapped application
variables. These entries describe the PDO contents by their index, sub-index and length (in bits).
Structure of PDO Mapping Entry:
Byte : MSB LSB
index (16 bit) sub-index (8 bit) object length (8 bit)
Principle of PDO mapping:
Multiplexed data
The multiplexed data is used to multiplex more than one axis demand value into one message RPDOn.
It is possible to send 4 axis demand values (16 bit absolute) with one RPDOn. Therefore, the controller must
modify the COB-ID of RPDOn of each axis to the same cob-ID. For example (see also the following diagram), for
axis 1, object 60C1-1 is mapped into the first mapped object (object 1602-1), for axis 2, object 60C1-1 is mapped
into the 2nd mapped object (object 1602-2) and so on... For each axis, the balance of the mapped objects must
be mapped with a dummy object.
A dummy object mapped is realized with objects:
0x0002 (integer8)
0x0003 (integer16)
0x0004 (integer32)
0x0005 (unsigned8)
0x0006 (unsigned16)
0x0007 (unsigned32)
These objects can be used to map a PDO as a dummy object but cannot be accessed via SDO (see DS-301,
9.5.3 Data type entry specification).
PDO mapping
0 3 (nb of entries)
1 yyyyh (index) yyh (sub-index) 08h (size)
2 zzzzh zzh 10h
3 xxxxh xxh 08h
Object Dictionary
xxxxh xxh Application object 1
yyyyh yyh Application object 2
zzzzh zzh Application object 3
PDO Appl. Obj. 2 Appl. Obj. 3 Appl. Obj. 1

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English