D301087 0308 - BL20 CANopen 4-89
Object Dictionary
4
Object 1A00
hex
to 1A1Fh - Transmit PDO-Mapping Param.
Objects 1A00
hex
to 1A1F
hex
define, which data have to be transferred
with TPDO1 to TPDO32.
The data content (here: process input data) is represented by
product specific mappable objects.
→ "Mappable Objects", page 4-32.
For example, the process input data for the digital channels are
entered in objects 6000
hex
, 6020
hex
etc.
The description of these objects can be found in section "I/O-
Module Objects", page 4-110 ff..
Sub-indices 01
hex
to 40
hex
of the objects 1A00
hex
to 1A1F
hex
contain
the object number, the sub-index and the length of the data that
have to be transferred via the respective TPDO.
A TPDO can transfer a maximum number of 8 bytes (64 bit).
The number of sub-indices depends on the data length and must be
calculated and entered by the user for larger projects (see below).
8 sub-indices are required for a data length of 8 bits in order to
represent a total of 64 bits. A data length of 1 bit requires 64 sub-
indices for a total of 64 bits.
Objects 1A00
hex
to 1A03
hex
(TPDO1 to TPDO4) references by default
the values for the first 64 digital output channels and for the first 12
analog output channels, provided that the values are represented by
the objects 6000
hex
(digital values) and 6401
hex
(analog values).
Table 40:
Object 1A00
hex
to
1A1F
hex
Object description
INDEX 1A00
hex
to 1A1Fh
Name Transmit PDO-mapping parameters
Object code RECORD
Data Type PDO-mapping
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