turck BL20 - Page 210

BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-138
The following figure shows the relationship between the analog
input objects for an Integer16 access:
Figure 4:
Relationship between the analog input objects (according to CiA Draft Standard DS401)
A/D
Converter
{T, F}
ENTRY
into
6401h
Map into
TPDO 2...4
Transmit
TPDO 2..4
1A01h
to 1A03h
180h1
to 1803h
6424h
6425h
6426h
= 1
XOR
&
AND
6423h
6427h
D
Default
Mapping
Parameter
Fixed
Relation
Single
Analog
Input
{T, F}
{T, F}
{T, F}
{T, F}
{8 Byte} {TPDO 2...4}
CAN
Transmission
{E, D}
Close
if
TRUE
{V, A}
Upper Limit
Lower Limit
Value
Difference
Negative
Value
Difference
Positive
Value
Difference
<
>
(1)
(4)*
(2)
(2)
(3)
(3) (3)
T = true
F = false
E = enabled
D = diaabled
(1) = up to 16 bit
(2) = Integer32
(3) = Unsigned32
(4) = Integer16
* = left justified
6428h
Default
Communication
Parameter
Hardware Objects
Communication Objects