Information for the CANopen master Issue 01/05
CANopen Option Module Operating Instructions
98 6SE6400-5BC00-0BP0
Set the data transfer type of all PDOs to non-synchronous data transfer:
Write FF into object 0x1400 sub 2
T0 00:01:44,7392: 0x603 8-Data: 2f 00 14 02 ff 00 00 00
R0 00:01:46,4598: 0x583 8-Data: 60 00 14 02 00 00 00 00
Write FF into object 0x1404 sub 2
T0 00:01:46,5702: 0x603 8-Data: 2f 04 14 02 ff 00 00 00
R0 00:01:46,5988: 0x583 8-Data: 60 04 14 02 00 00 00 00
Write FF into object 0x1405 sub 2
T0 00:01:46,6895: 0x603 8-Data: 2f 05 14 02 ff 00 00 00
R0 00:01:46,7217: 0x583 8-Data: 60 05 14 02 00 00 00 00
Write FF into object 0x1800 sub 2
T0 00:01:46,7989: 0x603 8-Data: 2f 00 18 02 ff 00 00 00
R0 00:01:48,4259: 0x583 8-Data: 60 00 18 02 00 00 00 00
Write FF into object 0x1804 sub 2
T0 00:01:48,5405: 0x603 8-Data: 2f 04 18 02 ff 00 00 00
R0 00:01:50,2609: 0x583 8-Data: 60 04 18 02 00 00 00 00
Write FF into object 0x1805 sub 2
T0 00:01:50,3706: 0x603 8-Data: 2f 05 18 02 ff 00 00 00
R0 00:01:50,4000: 0x583 8-Data: 60 05 18 02 00 00 00 00
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
The target torque is the second mapped object:
Write 0x60710010 into object 0x1604 sub 2
T0 00:02:12,4968: 0x603 8-Data: 23 04 16 02 10 00 71 60
R0 00:02:12,4982: 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
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