ABB FCAN-01, User Manual

Page: 120 / 176

120 Communication protocol
Mapping format
Note: Subindex 0 contains the number of valid entries within the
mapping record. This number is also the number of the application
variables (parameters), which shall be transmitted/received with
the corresponding PDO. The subindexes from 1 to the number of
objects contain information about the mapped application
variables.
The mapping values in the CANopen object are hexadecimal
coded. The following table presents an example of the PDO
mapping entry structure:
If the PDO mappings are configured with fieldbus configuration
parameter group B (group 2) and group C (group 3), only objects
belonging to the virtual address area of the drive control and to the
drive parameter area can be mapped, that is, objects 6040h,
6042h, 6041h, 6044h, 6064h, 60FFh, 606Ch, 607Ah, 6077h,
6071h, 2001h, 2002h, 2003h, 2004h, 2005h, 2006h, 2000h03,
2000h06 and objects 4000h…4063h. The mapping values are in
decimal format and only virtual addresses of the drive control (1...6
and 11...16) or drive parameter numbers (101...9999) can be set.
The adapter module converts the values to CANopen objects. The
length of the object is detected automatically.
Note: The PDO mappings should be started from subindex 1. If a
PDO mapping entry is zero, the mapping for that subindex and
from that subindex onwards is neglected. That is, if there are zeros
in the PDO mapping, only objects from subindex 1 to the first zero
are taken into account.
Type MSB LSB
UINT32 31 16 15 8 7 0
Description Index
eg, 6048h
(16 bits)
Subindex
eg, 02h
(8 bits)
Object length in bits
eg, 10h (= 16 bits)
(8 bits)