VIPA System 300V - Page 114

Chapter 4 CANopen Manual VIPA System 300V
4-42 HB130E - IM - Rev. 08/26
The first send PDO (TxPDO1) is per default for digital inputs. Depending
on the number of the inserted inputs, the needed length of the PDO is
calculated and the according objects are mapped.
For the digital inputs are organized in bytes, 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
0x1A01 0 Number of
Elements
Unsigned8 rw N depending on the
components fitted
Mapping parameter of the
second transmit PDO; sub-
index 0: number of mapped
objects
1 1st mapped
object
Unsigned32 rw N 0x64010110 (2 byte index,
1 byte sub-index,
1 byte bit-width)
2 2nd mapped
object
Unsigned32 rw N 0x64010210 (2 byte index,
1 byte sub-index,
1 byte bit-width)
... ... ... ... ... ... ...
8 8th mapped
object
Unsigned32 rw N 0x00000000 (2 byte index,
1 byte sub-index,
1 byte bit-width)
The 2
nd
send PDO (RxPDO2) is per default for the analog inputs.
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.
... continue
Mapping
parameter TxPD01
Mapping
parameter TxPDO2