Lenze 931M-931W - Manual (Page 41)

CANopen communication
Process data transfer (PDO transfer)
Description of the objects
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41 KHB 13.0003-EN 2.0
Objects to be transferred (first_mapped_object ... fourth_mapped_object)
For every object to be contained in the PDO, the drive controller must know the
corresponding index, subindex and length. The specified length must be identical to the
length specified in the object dictionary. It is not possible to map parts of an object.
The mapping information has the following format:
Index Subindex Length
16 bits 8 bits 8 bits
ƒ Index: Main index of the object to be mapped (hex)
ƒ Subindex: Subindex of the object to be mapped (hex)
ƒ
Length: Length of object - 8, 16 or 32 bits (hex)
In order to simplify the mapping, the following procedure is given:
1. The number of the mapped objects is set to 0.
2. The first_mapped_object ... fourth_mapped_object parameters can be written (the
total length of all objects is not relevant at this time).
3. The number of the mapped objects is set to a value between 1 ... 4. The length of all
these objects must not exceed 64 bits.