Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
91
5.7.1.1 Execute the mapping for RPDO 4
Set the number of mapped objects to 0
Write 0 into object 0x1604 sub 0
T0 00:01:50,4900: 0x603 8-Data: 2f 04 16 00 00 00 00 00
R0 00:01:50,5034: 0x583 8-Data: 60 04 16 00 00 00 00 00
The control word is the first mapped object:
Write 0x60400010 into object 0x1604 sub 1
T0 00:01:50,6068: 0x603 8-Data: 23 04 16 01 10 00 40 60
R0 00:01:50,6205: 0x583 8-Data: 60 04 16 01 00 00 00 00
Target velocity is the second mapped object:
Write 0x60420010 into object 0x1604 sub 2
T0 00:01:50,7267: 0x603 8-Data: 23 04 16 02 10 00 42 60
R0 00:01:50,7394: 0x583 8-Data: 60 04 16 02 00 00 00 00
Set the number of mapped objects to 2
Write 2 into object 0x1604 sub 0
T0 00:01:50,8290: 0x603 8-Data: 2f 04 16 00 02 00 00 00
R0 00:01:52,4893: 0x583 8-Data: 60 04 16 00 00 00 00 00
5.7.1.2 Execute the mapping for TPDO 4
Set the number of mapped objects to 0
Write 0 into object 0x1A04 sub 0
T0 00:01:52,5891: 0x603 8-Data: 2f 04 1a 00 00 00 00 00
R0 00:01:52,6020: 0x583 8-Data: 60 04 1a 00 00 00 00 00
The status word is the first mapped object:
Write 0x60410010 into object 0x1A04 sub 1
T0 00:01:52,6976: 0x603 8-Data: 23 04 1a 01 10 00 41 60
R0 00:01:52,7110: 0x583 8-Data: 60 04 1a 01 00 00 00 00
The velocity-control effort is the second mapped object:
Write 0x60440010 into object 0x1A04 sub 2
T0 00:01:52,7920: 0x603 8-Data: 23 04 1a 02 10 00 44 60
R0 00:01:52,8058: 0x583 8-Data: 60 04 1a 02 00 00 00 00
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