ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 35)

Error code data fields:
The relevant mapped object that failed according to the 32 bits mapping object.
Byte 4-5: Object size, in bits
Byte 6: Sub index
Byte 7: Index
The failed RPDO emergency can be masked by clearing bit 8 in object 0x2F21.
5.3.5 Mapping Parameter Objects
Objects 0x1A00 to 0x1A03 define the mapping for TPDOs. Objects 0x1600 – 0x1603 define
the mapping for RPDOs. The type of PDO mapping parameter is described in object 0x21.
The method of mapping an object is defined in objects 0x1600 - 0x1603.
Example of TPDO mapping:
A drive will transmit the position value (object 0x6064, sub-index 0, INTEGER32), the
PVT buffer head pointer (object 0x2F11, sub-index 0, INTEGER16) and PVT buffer tail
pointer (object 0x2F12, sub-index 0, INTEGER16) per every accepted SYNC signal,
according to the following procedure:
Step Explanation
Set 0 to 0x1A00(0)
Stop all emissions of TPDO1.
Set 0x60640020 to
0x1A00(1) Program the position value (object 0x6064) to first 4 bytes of
the PDO.
Set 0x2F110010 to
0x1A00(2) Program object 0x2F11 for next 2 bytes (PVT head pointer).
Set 0x2F120010 to
0x1A00(3) Program object 0x2F12 for next 2 bytes (PVT tail pointer).
Set 1 to 0x1800(2) Set transmission type in PDO communication parameters to
“Transmit every SYNC.” Other PDO communication
parameters are not programmable.
Set 3 to 0x1A00(0) Activate the three mapped objects.
In this example, xxxx(y) indicates sub-index y of object xxxx.
A PDO mapping element is a 32-bit bit field (object 0x21), divided as follows:
16-bit index 8-bit sub-index Object length: 8 bits
CANopen DS 301 Implementation Guide Process Data Objects (PDOs)
MAN-CAN301IG (Ver. 2.1)
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