Applied Motion ST10-C-CE - Manual (Page 34)

34 920-0025 Rev K
3/5/2015
CANopen User Manual
A device that supports dynamic mapping of PDOs must support this during the PRE-OP-
ERATIONAL state. If dynamic mapping during the OPERATIONAL state is supported, the SDO
client is responsible for data consistency.
Figure 11: Principle of PDO mapping
Object Type Sub Number
Record 9
Subindex Name Data Type
Access
Type
PDO
Mapping
COS Default value
00
Number of
mapped objects
UNSIGNED8 rw no no 0
01 mapped object 1 UNSIGNED32 rw no no 0x00000000
02 mapped object 2 UNSIGNED32 rw no no 0x00000000
03 mapped object 3 UNSIGNED32 rw no no 0x00000000
04 mapped object 4 UNSIGNED32 rw no no 0x00000000
05 mapped object 5 UNSIGNED32 rw no no 0x00000000
06 mapped object 6 UNSIGNED32 rw no no 0x00000000
07 mapped object 7 UNSIGNED32 rw no no 0x00000000
08 mapped object 8 UNSIGNED32 rw no no 0x00000000
0x1600 - 0x1603 RPDO mapping parameter (To change mapping, ‘Number of mapped
objects’ must be set to 0)
Number of mapped objects
mapped object (subindex 1...8)
bit 0-7:
data length in bits
bit 8-15: subindex from OD
bit 16-31: index from OD
Appl. Obj. 2
PDO:
zzzzh
zzzzh
xxxxh
xxxxh
0 3
1
2
3
yyyyh
yyyyh
zzh
zzh
yyh
yyh 08h
10h
08h
xxh
xxh
Application Object 3
Application Object 2
Application Object 1
Object Dictionary
PDO Mapping
Appl. Obj. 1 Application Object 3