bihl+Wiedemann AS-i 2.1, User Manual

Page: 50 / 102

AS-i/CANopen Gateway Operation as CANopen Node
Subject to reasonable modifications due to technical advances Copyright Bihl+Wiedemann, Printed in Germany
Bihl+Wiedemann GmbH · D-68199 Mannheim · Phone +49-621-339960 · Fax +49-621-3392239 · Internet http://www.bihl-wiedemann.de
is
sue da
te
27
.1
.2
0
0
3
48
8.2 Process Data Communication
8.2.1 Mapping AS-i Data in CANopen PDOs
Input and Output Data Image:
2041 3 inputs B-slaves 1 … 15, circuit 2
2041 4 inputs B-slaves 16 … 31, circuit 2
2050 1 outputs 7.3 16 bit slave 1, circuit 1
… … …
2050 30 outputs 7.3 16 bit slave 31, circuit 1
2051 1 outputs 7.3 16 bit slave 1, circuit 2
… … …
2051 30 outputs 7.3 16 bit slave 31, circuit 2
PDO byte
2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
X+1
0 flags slave 1/1A
F3 F2 F1 F0 D3 D2 D1 D0
1 slave 2/2A slave 3/3A
2 slave 4/4A slave 5/5A
3 slave 6/6A slave 7/7A
4 slave 8/8A slave 9/9A
5 slave 10/10A slave 11/11A
6 slave 12/12A slave 13/13A
7 slave 14/14A slave 15/15A
X+2
0 slave 16/16A slave 17/17A
1 slave 18/18A slave 19/19A
2 slave 20/20A slave 21/21A
3 slave 22/22A slave 23/23A
4 slave 24/24A slave 25/25A
5 slave 26/26A slave 27/27A
6 slave 28/28A slave 29/29A
7 slave 30/30A slave 31/31A
X+3
0 reserved slave 1B
1 slave 2B slave 3B
2 slave 4B slave 5B
3 slave 6B slave 7B
4 slave 8B slave 9B
5 slave 10B slave 11B
6 slave 12B slave 13B
7 slave 14B slave 15B
object subindex description