BONFIGLIOLI Vectron Active Cube, User Manual

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Example*:
COB ID CB Index SI Data
Read Request 601 40 00 1A 01 00 00 00 00
Reply 581 43 00 1A 01 10 00 41 60
Write Access 601 2F 00 1A 00 00
Reply * 581 60 00 1A 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
*
Note, that Object 1400/1 Highest has to be deactivated first for the correct Write
access for Object 1600/n. See also the Mapping sequence described in the following.
Mapping Sequence
The mapping sequence requires five steps:
Step 1: Set PDO to “not valid” ( 0x1800 , subindex 1, Bit 31 = 1)
Step 2: Set subindex 0 to 0 (deactivate current mapping, 0x1A00, subindex 0
= 0)
Step 3: Set subindex 1 … n to the new objects (0x1A00, subindex 1..n = new
object)
Step 4: Set subindex 0 to the number of mapped objects (activate new mapping,
0x1A00, subindex 0 = n)
Step 5: Set PDO valid ( 0x1800 , subindex 1, Bit 31 = 0)
TxPDO 0x1A00 is used exemplary above. The same procedure applies to 0x1A01 and
0x1A02. In these cases, 0x1800 has to be substituted accordingly with 0x1801 or
0x1802.
Example (Node ID = 1):
COB ID Control
byte
Index Sub index Data Data
LSB MSB Sub index LSB … … MSB
Step 1: 601 23 00 18 01 84 01 00 80
Response 581 60 00 18 01 00 00 00 00
Step 2: 601 2F 00 1A 00 00 00
Response 581 60 00 1A 00 00 00
Step 3.1: 601 23 00 1A 01 10 00 44 60
Response 581 60 00 1A 01 00 00 00 00
Step 3.2 601 23 00 1A 02 10 00 41 60
Response 581 60 00 1A 02 00 00 00 00
Step 3.3 601 23 00 1A 03 10 00 01 30
Response 581 60 00 1A 03 00 00 00 00
Step 3.4 601 23 00 1A 04 10 00 02 30
Response 581 60 00 1A 04 00 00 00 00
Step 4: 601 2F 00 1A 00 04 00
Response 581 60 00 1A 00 00 00
Step 5: 601 23 00 18 01 84 01 00 00
Response 581 60 00 1A 00 00 00 00 00
Resulting mapping
Control effort
( 0x6044 )
Status word
( 0x6041 )
Digital In actual
values ( 0x3001 )
Digital In actual
values ( 0x3002 )
00 00 00 00 00 00
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CM-CAN ACU
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