BONFIGLIOLI Vectron Active Cube, User Manual

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12.2.20 0x1600/n, 0x1601/n, 0x1602
RxPDO Mapping Parameters
Index Sub-index Meaning Data type Access Map Def.-Val
0x1600
0x1601
0x1602
0 Number of mapped objects Unsigned8 rw No 2
1 1
st
mapped obj. Unsigned32 rw No See text
2 2
nd
mapped obj. Unsigned8 rw No See text
3 3
rd
mapped obj. Unsigned8 rw No See text
4 4
th
mapped obj. Unsigned8 rw No See text
5 5
th
mapped obj. Unsigned8 rw No See text
6 6
th
mapped obj. Unsigned8 rw No See text
7 7
th
mapped obj. Unsigned8 rw No See text
8 8
th
mapped obj. Unsigned8 rw No See text
RxPDO Mapping parameters:
0x1600/n RxPDO1
0x1601/n RxPDO2
0x1602/n RxPDO3
0x1600/0 = 0 = no objects mapped
0x1600/0 = 1 … 8 = 1 … 8 objects mapped
Mapping entry:
MSB LSB
Object index Subindex Length (no. of bits)
High byte Low byte si ll
Examples:
Mapping of 0x6040/0 Control word (unsigned16 = 10
hex
) to 1
st
mapped object in
RxPDO1:
0x1600/1 =
0x6040 00 10
Mapping of 0x60C1/1
interpolation data record 1
(integer32 = 20
hex
) to 2
nd
mapped
object in RxPDO1:
0x1600/2 =
0x60C1 01 20
Refer to chapter 12.1 for a tabular overview of all objects and their corresponding
data types.
Default mapping
RxPDO1 0x1600/0 0x1600/1 0x1600/2 0x1600/3…8
2 0x6040
Control word
0x6042
target velocity
0x00000000
RxPDO2 0x1601/0
0 No mapping
RxPDO3 0x1602/0
0 No mapping
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CM-CAN ACU
04/13