User Manual CANopen/EtherCAT
35
[Chapter 6]
Parameter 2007 - COM_301_EvMask
“Event mask for asynchronous transmit pdos“
Sub
Id
Name Value Description Type
0 EvMsk_TxPdo1L FFFFFFFFh Event mask for txpdo 1 byte 0-3 uint32
1 EvMsk_TxPdo1H FFFFFFFFh Event mask for txpdo 1 byte 4-8 uint32
2 EvMsk_TxPdo2L FFFFFFFFh Event mask for txpdo 2 byte 0-3 uint32
3 EvMsk_TxPdo2H FFFFFFFFh Event mask for txpdo 2 byte 4-8 uint32
4 EvMsk_TxPdo3L FFFFFFFFh Event mask for txpdo 3 byte 0-3 uint32
5 EvMsk_TxPdo3H FFFFFFFFh Event mask for txpdo 3 byte 4-8 uint32
6 EvMsk_TxPdo4L FFFFFFFFh Event mask for txpdo 4 byte 0-3 uint32
7 EvMsk_TxPdo4H FFFFFFFFh Event mask for txpdo 4 byte 4-8 uint32
Table Field parameter 2007
Example of application of screens:
To only allow the lower 16 bits of the TxPDO1 as an event, the subindexes of parameter
2007 are described as follows:
Subindex 0 (Event screen TxPDO1 bytes 0 – 3) = 0000FFFFh
Subindex 1 (Event screen TxPDO1 bytes 4 – 7) = 00000000h
Note: The cyclic sending of the Tx PDOs is activated by setting a cycle time
in ms in the objects 0x1800 (TxPDO1) 0x1801(TxPDO2), 0x1802 (TxPDO3)
and 0x1803 (TxPDO4) subindex 5 (event timer).
–
–
6.6 PDO mapping
6.6.1 Mapping - general
Variable mapping of parameters is possible on ServoOne for all 4 Rx and TxPDOs.
Mapping works as defined in the CANopen communication profile DS301.
Most device-specific parameters form part of the manufacturer-specific area (2001h-
5FFFh) and can also be mapped in the PDOs. For these parameters (objects), refer to the
EDS file of the drive controller.
6.6.2 Mapping notes
In contrast to earlier devices ServoOne no longer has predefined mapping or mapping
selectors. This means that prior to communication via PDO the mapping must be written
to the drive controller by the controller. Transfer of the data set is also possible.
By default all mapping settings are set to 0, i. e. the PDOs do not contain any mapping.
The communication settings (mapping/transmission types etc.) can be saved in the
device however, and are subject to data set handling. This means they must be rewritten
each time and can be transferred with the data set.
The following objects are relevant for mapping:
RxPDOs:
1600h RxPDO1 mapping
1601h RxPDO2 mapping
1602h RxPDO3 mapping
1603h RxPDO4 mapping
TxPDOs:
1A00h TxPDO1 mapping
1A01h TxPDO2 mapping
1A02h TxPDO3 mapping
1A03h TxPDO4 mapping
To Next Page
Loading...
