Lenze EMF2178IB - Manual (Page 111)

Implemented CANopen objects
Overview
I−1600 ... I−1602: Receive PDO mapping parameters
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l
111 EDSMF2178IB EN 3.0
13.2.20 I−1600 ... I−1602: Receive PDO mapping parameters
With these objects, parameter data can be received as PDOs.
)
Note!
The objects I−1601 and I−1602 are not available for 8200 vector and 93XX
controllers.
Index Subindex Name Data type Value range Authorisatio
n
I−1600 0 Number of mapped objects
in RPDOs U8 0 ... 255 rw
1 RPDO mapping 1 U32 0 ... (2 32 − 1)
2 RPDO mapping 2
3 RPDO mapping 3
4 RPDO mapping 4
I−1601 0 Number of mapped objects
in RPDOs U8 0 ... 255 rw
1 RPDO mapping 1 U32 0 ... (2 32 − 1)
2 RPDO mapping 2
3 RPDO mapping 3
4 RPDO mapping 4
I−1602 0 Number of mapped objects
in RPDOs U8 0 ... 255 rw
1 RPDO mapping 1 U32 0 ... (2 32 − 1)
2 RPDO mapping 2
3 RPDO mapping 3
4 RPDO mapping 4
Subindices
Subindex Description
0 Number of mapped objects in RPDOs
1 ... 4 This value will be returned in case of a read request for the object.
For mapping in the module, the master enters indices and data lengths.
Mapping structure
MSB LSB
31 ... 16 15 ... 8 7 ... 0
Index Subindex Object length
DWord 0 = 0x20
Word = 0x10
The EDS file for the EMF2178IB communication module supports the mapping.
I
Tip!
The current EDS file required for configuring the EMF2178IB (CANopen)
communication module can be found in the download area on:
www.Lenze.com