turck BL20 - Procedure for Altering PDO-Mappings

BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-34
Procedure for Altering PDO-Mappings
The Communication Profile CiA DS-301 Version 4 defines a detailed
procedure for altering PDO-mappings.
For the BL20 gateway, this results in the following method for modi-
fying PDO-mappings:
 The node state of the gateway must be "Pre-Operational".
 The number of mapping entries (Sub-index 0) for a PDO must be
set to 0.
 The mapping entries (Sub-index 1 to 64) can be written.
 The number of mapping entries (Sub-index 0) must now be set
to the valid number of mapped objects.
 Alternatively, the new mapping can be saved in non-volatile
memory (Store Communication parameters).
The following abort codes (Abort-Domain-Protocol) may be sent
back by the gateway in case of an error:
Table 8:
Abort codes
Abort code Description as
per
CiA DS-301
Possible cause
0604 0041
hex
Object cannot
be mapped
Invalid object-index transferred
while writing the mapping
entries.
0604 0042
hex
Number or
length of the
objects exceeds
the PDO length
Attempted to map too many or
excessively long objects to a
PDO. This will be returned on
writing to the sub-index 0.
0609 0011
hex
Sub-index does
not exist
A sub-index > 64 was
addressed.
0800 0022
hex
Access not
possible in this
node state
Write access is only possible in
the "Pre-Operational" node
state.
Write access to Sub-indices 1 to
64 is only possible if sub-index 0
is written with value 0.