Balluff BDG F-NH Series, Configuration Manual

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To use the PDO mapping the mapping parameters for the transmit PDO have to
be configured (see object dictionary,
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Step 1: Delete current mapping
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Step 2: Re-mapping the PDO
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Step 3: Activating the new mapping
For example to change the PDO1 mapping you have to access the PDO1 mapping parameter object 1A00h.
Step 1: Delete current mapping
First the sub-index 0 of the Mapping parameter object has to be set to zero:
600h+ID 8 2Fh 00h 1Ah 00h 00h 00h 00h 00h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.56: Mapping parameter
The encoder is now ready for remapping.
Step 2: Re-mapping the PDO
Mapping of the position value : (No.:1 (Size 32 bit = 20h) into object 1A00h sub-index 1 for PDO1):
600h+ID 8 23h 00h 1Ah 01h 20h 00h 04h 60h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.57: Mapping position value
The SDO command contains the object to be mapped and its size (object 6004h, sub-index 0, Size 20h = 4 Byte).
Mapping of speed value (No.:2 (Size 16 bit = 10h) into object 1A00h sub-index 2 for PDO1):
600h+ID 8 23h 00h 1Ah 02h 10h 01h 30h 60h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.58: Mapping speed value
The SDO command contains the object to be mapped and its size: (Object 6030h, sub-index 1, Size 10h = 2
Byte).
Mapping of acceleration value (No.:3 (Size 16 bit = 10h) into object 1A00h sub-index 3 for PDO1):
600h+ID 8 23h 00h 1Ah 03h 10h 01h 40h 60h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.59: Mapping acceleration value
The SDO command contains the object to be mapped and its size: (Object 6040h, sub-index 1, Size 10h = 2
Byte).