ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 72)

Notes:
ƒ Transmission type may be 255, 254 or 1. On an attempt to change the value of
the transmission type to a value that is not supported by the Elmo drive an abort
message (abort code: 0609 0030h) is generated.
Objects 0x1600 - 0x1603: Receive PDO mapping
These objects contain the mapping for the PDOs that the Elmo drive is able to receive.
The sub-index 0h contains the number of valid entries within the mapping record. This
number of entries is also the number of the application variables that are received with
the corresponding PDO.
ƒ Mapping method: (for more information please refer to the “PDO mapping” section
in this manual.
The sub-indices from 1h to number of entries contain the information about the
mapped application variables. These entries describe the PDO contents by their
index, sub-index and length. All three values are hexadecimal coded.
The PDO mapping element is a 32-bit field (object 0x21), divided as follows:
MSB ←⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯→ LSB
Index: 16-bit Sub index: 8-bit Object length: 8 bits
The length of the entry contains the length of the object in bits (1..40h).
If the change in PDO mapping cannot be executed (for example, the PDO length is
exceeded or the SDO client attempts to map an object that cannot be mapped), the
device responds with an Abort SDO Transfer Service.
Sub-index 0 determines the valid number of objects that have been mapped. For
changing the PDO mapping, sub-index 0 must be set to 0 (mapping is deactivated).
On then can the objects be remapped.
When a new object is mapped by writing a sub-index between 1 and 8, if the object
does not exist or it cannot be mapped, the SDO transfer is aborted with the Abort
SDO Transfer Service with abort code 0602 0000h or 0604 0041h. You can configure a
single object without remapping the remaining objects. The previously mapped
objects will not be cleared.
After all objects are mapped, sub-index 0 is set to the valid number of mapped
objects. Then the drive rechecks the mapping integrity. Finally, the PDO is created by
writing to its communication parameter COB-ID. When sub-index 0 is set to a value
greater than 0, the device may validate the new PDO mapping before transmitting the
response of the SDO service. If an error is detected, the Elmo drive transmits the
Abort SDO Transfer Service with abort codes 0602 0000h, 0604 0041h or 0604 0042h.
When sub-index 0 is read, the actual number of valid mapped objects is returned.
CANopen DS 301 Implementation Guide Device-specific Objects
MAN-CAN301IG (Ver. 2.1)
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