Lenze PLC Designer PLC Designer (R2-x) CANopen for Runtime Systems - Manual (Page 38)

L-force | PLC Designer - CANopen for Runtime Systems
CanDevice
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DMS 2.0 EN 05/2009 TD29 37
3.5 Modifying the default mapping by the master configuration
The given PDO mapping (in the CanDevice configuration) can be modified within certain bounds by
the master.
Thereby the rule must be observed, that CanDevice is not able to create new object dictionary entries,
which are not yet part of the default mapping (Default PDO Mapping in the CanDevice configuration).
So e.g. for a PDO, which contains one object mapped in the Default PDO Mapping, it is not possible
to map a second object in the master configuration.
Thus the mapping modified by the master-configuration maximum can contain the PDOs defined in
the default-mapping. Within these PDOs 8 mapping entries (subindices) are available.
Errors which possibly occur in this context are not indicated bit the redundant PDO definitions /
redundant mapping entries will be treated as non-existent.
The PDOs always must be set up in the master starting with 16#1400 (receive PDO communication
parameters) resp. 16#1800 (send-PDO communication parameters) and must follow each other
without a break.
The default mapping of the CanDevice always is available after a program download. It depends on
the master configuration, whether none-available mappings (not available in the master configuration
but available in the default configuration) will be explicitly overwritten by the master.