Festo Электромотор MTR-DCI - Manual (Page 132)

5. Commissioning
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Festo P.BE-MTR-DCI-CO-EN en 1209a
5.4.4 PDO mapping
The mapping is pre-set (“static mapping”) and cannot be
altered by the configuration software of the master.
Note
If the data on the master side are not in the same form, but
saved, i. e. as byte array:
• note that the representation of words and double words
appears in the “little endian” representation when trans-
mitted via CAN (lower-value byte first).
PDO mapping in FHPP
In FHPP mode the first PDO (8 bytes I/O data) for Transmit
and Receive is intended for the Record Select and Direct
modes; the second PDO (8 bytes I/O data) is used for FPC
(Festo Parameter Channel) parameterization.
Receive PDO 1 (FHPP standard)
Operating
mode Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Record Select CCON CPOS Record
no. reserved reserved
Direct mode CDIR Nominal
value 1 Nominal value 2
Receive PDO 2 (FHPP-FPC)
Function Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Control reserved
Parametrize reserved Subindex Task identifier +
parameter number Parameter value