VIPA System 300V - Page 109

Manual VIPA System 300V Chapter 4 CANopen
HB130E - IM - Rev. 08/26 4-37
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x1601 0 Number of
Elements
Unsigned8 rw N 0x01 Mapping parameter of the
second receive PDO; sub-index
0: number of mapped objects
1 1st mapped
object
Unsigned32 rw N 0x64110110 (2 byte index,
1 byte sub-index,
1 byte bit-width)
2 2nd mapped
object
Unsigned32 rw N 0x64110210 (2 byte index,
1 byte sub-index,
1 byte bit-width)
... ... ... ... ... ... ...
8 8th mapped Unsigned32 rw N 0x00000000 (2 byte index,
1 byte sub-index,
1 byte bit-width)
The 2
nd
receive PDO (RxPDO2) is per default for the analog outputs.
Depending on the number of the inserted outputs, the needed length of the
PDO is calculated and the according objects are mapped.
For the digital outputs are organized in words, the length of the PDO can
be directly seen in sub-index 0.
If the mapping is changed, the entry in sub-index 0 has to be adjusted
accordingly.
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x1602
-
0x1609
0 Number of
Elements
Unsigned8 rw N 0x01 Mapping parameter of the 3rd to
10th receive PDO; sub-index 0:
number of mapped objects
1 1st mapped
object
Unsigned32 rw N 0x00000000 (2 byte index,
1 byte sub-index,
1 byte bit-width)
2 2 nd
mapped
object
Unsigned32 rw N 0x00000000 (2 byte index,
1 byte sub-index,
1 byte bit-width)
... ... ... ... ... ... ...
8 8th mapped Unsigned32 rw N 0x00000000 (2 byte index,
1 byte sub-index,
1 byte bit-width)
The receive PDOs 3 to 10 (RxPDO3) get an automatic default mapping via
the coupler depending from the connected terminals. The procedure is
described under "PDO mapping".
Mapping
parameter
RxPDO2
Mapping
parameter
RxPDO3-RxPDO10