Applied Motion ST10-C-CE - Manual (Page 93)

93 920-0025 Rev K
3/5/2015
CANopen User Manual
PDO Mapping Procedure
Table 30: PDO Mapping Example
Default Mapping Example - Consumer PDO 2
Figure 19: PDO Mapping Showing the Default Mapping for RPDO2
PDO Mapping Example 1: Mapping StatusWord and Position_Actual_Value to TPDO2
Step Action Index Sub Bytes Value
1 Return back “PreOperation“ State
2 Turn off TPDO2 1801
h
01
h
80000280
h
3 Set the number of Mapped objects to 0 1A01
h
00
h
00
h
4 Map StatusWord to TPDO2 mapped object1 1A01
h
01
h
2 60410010
h
5 Map Position_actual_value to TPDO2 mapped object2 1A01
h
02
h
4 700A0020
h
6 Set the number of Mapped objects to 2 1A01
h
00
h
02
h
7 Turn On TPDO2 1801
h
01
h
00000280
h
8
9
1601h
0 = 2 (# of SubIndex Entries
1 = 2 Byte ControlWord (6040h)
2 = 4 Byte Target Position (607A)
RPDO 2
BYTES 0 - 1 BYTES 2 - 5 BYTE 6 - 7
ControlWord
003Fh
Target Position (Position) Data
Unused
1 1 0 1 1 1
F = Operation
Enabled
abs
/rel
change set immed.
new set-point
00 00 00 00
Index
SubIndex
ControlWord = 03Fh
Move to Absolute SetPoint
ControlWord = 05Fh
Move to Relative SetPoint
ControlWord = 00Fh
Reset New Set-Point Bit
to Prepare for Next Move
Transition Bit
MUST be reset to zero
between set-points