Infranor XtrapulsPac - Page 34

34
X
trapulsPac – User Guide
Chapter 3 - Referenc
e
Example of multiplexed data:
MSB LSB
TPDO Cob-ID
0x501
Data_Ax4 (16bit) Data_Ax3 (16bit) Data _Ax2 (16bit) Data _Ax1 (16bit)
This PDO is transmitted with COB-ID 0x501 and contains 16bits x 4 of data
Object
V
alue
RPDO1 COB-ID (object 1400-1) 0x501
Number of mapped objects (object 1600-0) 0x1
1
s
t
Mapped Object (object 1600-1) 0x60C10110
Object
V
alue
RPDO1 COB-ID (object 1400-1) 0x501
Number of mapped objects (object 1600-0) 0x2
1
s
t
Mapped Object (object 1600-1) 0x00060010 (dummy)
2
s
t
Mapped Object (object 1600-2) 0x60C10110
Object
V
alue
RPDO1 COB-ID (object 1400-1) 0x501
Number of mapped objects (object 1600-0) 0x3
1
s
t
Mapped Object (object 1600-1) 0x00060010 (dummy)
2
n
d
Mapped Object (object 1600-2) 0x00060010 (dummy)
3
r
d
Mapped Object (object 1600-3) 0x60C10110
Object
V
alue
RPDO1 COB-ID (object 1400-1) 0x501
Number of mapped objects (object 1600-0) 0x4
1
s
t
Mapped Object (object 1600-1) 0x00060010 (dummy)
2
n
d
Mapped Object (object 1600-2) 0x00060010 (dummy)
3
r
d
Mapped Object (object 1600-2) 0x37100110
4
th
Mapped Object (object 1600-4) 0x60C10110
Receive PDO Communication Parameter
Object 0x1400: 1st Receive PDO Communication Parameter
Index 0x1400
Name 1st Receive PDO Communication Parameter (RPDO1)
Object Code RECORD
Number of Elements 2
Value Description
Sub Index 1
Description COB-ID
Data Type Unsigned32
Access rw
PDO Mapping No
Default Value 0x200 + Node-ID
Sub Index 2
Description Transmission Type
Data Type Unsigned8
Access rw
PDO Mapping No
Default Value 253
In drive 2, “Data _Ax2” will
be written in object 60C1-
1
In drive 3, “Data _Ax3” will
be written in object 60C1-1
In drive 4, “Data _Ax4” will be
written in object 60C1-1 and
“Data _Ax3” in object 3710-1
In drive 1, “Data_Ax1” will
be written in object 60C1-1