ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 73)

ƒ Object description:
Index 1600h - 1603h
Name Receive PDO Mapping
Object code RECORD
Data type PDO Mapping
Category Conditional: mandatory for each supported PDO
ƒ Entry description:
Sub-index 0
Description Number of mapped application object in PDO
Entry category Optional
Access Read/Write
PDO mapping No
Value range UNSIGNED32
Default value 1
Sub-index 1
Description PDO mapping for first and last application object to
be mapped
Entry category Optional
Access Read/Write
PDO mapping No
Value range UNSIGNED32
Default value Object 1600h(1): 0x20010040 (controlword)
Object 1601h(1): 0x20120040 (binary interpreter)
Object 1602h: 0
Object 1603h: 0
Default value 0x581
Notes:
ƒ Up to 8 objects can be mapped to a single RPDO.
ƒ Dummy entries are supported by the Elmo drive.
ƒ The object can be mapped during the PRE OPERATIONAL stage.
ƒ Dynamic mapping is allowed during the OPERATIONAL stage. The SDO client
is responsible for data consistency.
CANopen DS 301 Implementation Guide Device-specific Objects
MAN-CAN301IG (Ver. 2.1)
12-22