Information for the CANopen master Issue 01/05
CANopen Option Module Operating Instructions
78 6SE6400-5BC00-0BP0
Initially, values that correspond to the lowest bit numbers must be mapped.
As example, here, the following mapping should be set for RPDO_5:
Control word, free object 2802.03, setpoint (reference) torque and modes of
operation.
The following entries are written into the objects of RPDO5:
Set the number of mapping entries to 0 (write 0 to 1604H subindex zero).
1604H index 01 = control word = 60400010H Mapping sequence from list = 1
1604H index 02 = free object 2802.03 = 28020310H Mapping sequence from
list = 3
1604H index 03 = setpoint (reference) torque = 60710010H Mapping sequence
from list = 5
1604H index 04 = modes of operation = 60600008H Mapping sequence from
list = 7
Set the number of mapping entries to 4 (write 4 to 1604H subindex 0) in order to
enable the PDO
This would be correct and the mapping entry would be used in RPDO5.
However, if the entries are written as follows:
Set the number of mapping entries to 0 (write 0 to 1604H subindex zero).
1604H index 01 = control word = 60400010H Mapping sequence from list = 1
1604H index 02 = setpoint (reference) torque = 60710010H Mapping sequence
from list = 5
1604H index 03 = free object 2802.03 = 28020310H Mapping sequence from
list = 3
1604H index 04 = modes of operation = 60600008H Mapping sequence from
list = 7
Set the number of mapping entries to 4 (write 4 to 1601H subindex 0), in order to
enable PDO.
This mapping sequence would result in an error!
The free object 2802.03 must be mapped in a lower object directory subindex than
the setpoint (reference) torque. This error would then have been sent as EMCY
message to the CANopen master - the mapping would not have been used.
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