Setup RPDOs and TPDOs to transmit and receive events between nodes, and map I/O from one
node to applications in another node.
The easiest way to do this is using DVT. If you are using a 3
rd
party configuration tool, the
relevant Object Dictionary indices are listed in Table 5.
Table 5 Objects associated with mapping
An example mapping (Figure 23) shows the movement of PDOs in a master-slave configuration
in which a digital input to the slave has been mapped to the seat switch object in the master.
Figure 23 Example of a digital input mapped to the seat switch object via PDO and the CANbus
Gen4 supports RPDO timeout fault detection. This can set a warning, drive inhibit or severe fault
depending on the configuration in 5902
h
.
NOTE: RPDO timeout can be used for non-CANopen systems which do not support
heartbeating. By default, RPDO timeout is disabled, and normal CANopen heartbeating protocol
(see section Network Configuration (page 6-5)) is assumed to be used.
To Next Page
Loading...
