53
Assign 1600h as the RPDO mapping object
Assign 1A00h as the TPDO mapping object
(2) PDO mapping parameters
PDO mapping is used to establish a mapping relationship between the object dictionary and PDO (real-time process
data).
The indexes 1600h and 1A00h in the object dictionary store RPDO and TPDO mappings respectively.
SPS-NE provides a variable RPDO and a variable TPDO, as shown in the following table.
(3) PDO configuration
PDO mapping parameters include the indexes, sub-indexes and lengths of objects that are mapped to process data.
The sub-index 0 indicates the number of PDO mapping objects n. Each PDO can map one or multiple objects
simultaneously, and the data length can reach up to 4*n bytes.
The sub-index 1–n, is the mapping contents.
The contents of mapping parameters are defined as below.
The index and sub-index determine the position of an object in the object dictionary. The object length indicates the
bits of the object in hexadecimal, as shown blow.
To Next Page
Loading...
Need help?
General
