Lenze L-force Communication 8400 motec Series - Page 101

EDS84DMOTCAN EN 3.0 - 11/2011 L 101
Communication manual 8400 motec CANopen
Implemented CANopen objects
I-1600 - RPDO1 mapping parameter
Object I-1600 serves to receive parameter data as RPDO1.
This object relates to code C00409/1...4
.
[13-14] Data telegram assignment
IEC 61131 process data words are mapped. Only whole bytes can be mapped (1 byte/
mapping entry).
I-1601 - RPDO2 mapping parameter
Object I-1601 serves to receive parameter data as RPDO2.
This object relates to code C00409/5...8
.
For data telegram assignment, see object I-1600
.
Index:
I-1600
Name:
RPDO1 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of mapped application
objects in PDO
00 8rwU8
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32
Subindex Meaning
0 Number of mapped objects
1 ... 4 Mapping entries 1 ... 4 for RPDO1
• The 4th mapping entry is used for the static mapping. For this, no value is
available.
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit31...bit16 Bit15...bit8
Bit 7 ... bit 0
Index Subindex Length
Index:
I-1601
Name:
RPDO2 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of mapped application
objects in PDO
00 8rwU8
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32
Subindex Meaning
0 Number of mapped objects
1 ... 4 Mapping entries 1 ... 4 for RPDO2
• The 4th mapping entry is used for the static mapping. For this, no value is
available.