Kohler Curtis F Series - Example for Rpdo Mapping with the Cit Programmer

APPENDIX A
pg. 247
Return to TOC Curtis AC F2-A, F4-A, F6-A Motor Controllers – FOS 4.5 – April 2022
Structure of PDO length object (1 byte).
Index Sub-Index
Bits 0–7
Bit Length
CAN1:
RPDO1: 1600h
RPDO2: 1601h
RPDO3: 1602h
RPDO4: 1603h
TPDO1: 1A00h
TPDO2: 1A01h
TPDO3: 1A02h
TPDO4: 1A03h
CAN2:
RPDO1: 1640h
RPDO2: 1641h
RPDO3: 1642h
RPDO4: 1643h
TPDO1: 1A40h
TPDO2: 1A41h
TPDO3: 1A42h
TPDO4: 1A43h
05h Number of objects in the map (not the number of bits or bytes)
Structure of PDO mapping object (4 bytes).
Index Sub-Index
Bits 31–16 Bits 8–15 Bits 0–7
PDO Mapping Index Sub Index Bit Length
CAN1:
RPDO1: 1600h
RPDO2: 1601h
RPDO3: 1602h
RPDO4: 1603h
TPDO1: 1A00h
TPDO2: 1A01h
TPDO3: 1A02h
TPDO4: 1A03h
CAN2:
RPDO1: 1640h
RPDO2: 1641h
RPDO3: 1642h
RPDO4: 1643h
TPDO1: 1A40h
TPDO2: 1A41h
TPDO3: 1A42h
TPDO4: 1A43h
01h
. . .
08h
PDO Mapping Index Sub-Index 8, 16, or 32.
Curtis does not allow
mapping of individual bits.
8d = 8h
16d = 10h
24d = 18h
32d = 20h
Example for RPDO Mapping with the CIT Programmer
For this example, it will be setting up RPDO1 for a device with Node ID 0x26, and map VCL_rottle
and User1.
Make sure that the node is pre-operational node. If not, send an NMT message using PCAN-view
(or a similar CAN dongle and soware).