Implemented CANopen Objects
Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4
Page 78 of 99
7.9.25.1 Synchronous Setting of the Relays of 8 CAN-CBX-REL4-Modules:
In general there is the possibility to access several CAN-CBX modules synchronously. The CAN-CBX-
REL4 modules can be configured so, that up to 8 CAN-CBX-REL4 modules can be addressed (object
6200
h
) with a single CAN frame simultaneously. Therefore all 32 relays can be set simultaneously. The
Receive COB-IDs of the CAN-CBX-REL4 modules must be set to the same value using object 1400
h
.
The mapping has to be defined in object 1600
h
.
Sub-index 0
h
contains the number of valid entries within the mapping record (see following table). The
number of valid entries shall be the same for all modules.
Value
Description
00
h
Mapping disabled
01
h
Sub-index 01
h
valid
02
h
Sub-index 01
h
and 02
h
valid
03
h
Sub-index from 01
h
- 03
h
valid
:
:
08
h
Sub-index from 01
h
- 08
h
valid
Sub-indices from 01
h
to 08
h
contain the information of the mapped application objects. The entry
describes the content of the PDO by their index, sub-index and length. For the CAN-CBX-REL4
module the value 6200 0108
h
(index 6200
h
, sub-index 01
h
and length 08
h
) may only be contained once.
The other sub-indices contain the value 0005 0008
h
as placeholder for the so called dummy mapping.
Note:
Mapping with bit-objects (object 6220
h
) enables the parallel connection of up to 16
CAN-CBX-REL4 modules.
Example :
There are three CAN-CBX-REL4 modules which shall be addressed via RPDO-Mapping
simultaneously.
Therefore the RPDO COB-IDs of the modules have to be configured to the same value. For further
information refer to CiA 301.
The object 1600
h
must be configured differently for the three modules. For the first module the
application_object has to be contained in sub-index 1
h
, for the second module in sub-index 2
h
and for
the third module in sub-index 3
h
(see Fig.19). For a higher number of modules (here up to 8 modules)
the entries have to be continued respectively.
