Festo CMMP Series, Manual

Page: 33 / 210

5. Access Procedure
Festo P.BE-CMMP-CO-SW-EN 0708NH 33
EXAMPLE
The following objects should be transmitted in one PDO:
Name of the object Index_Subindex Meaning
statusword 6041
h
_00
h
Controller regulation
modes_of_operation_display 6061
h
_00
h
Operation mode
digital_inputs 60FD
h
_00
h
Digital inputs
The first transmit PDO (TPDO 1) should be used, which should always be
sent whenever one of the digital inputs changes, but at a maximum of
every 10 ms. As identifier for this PDO, 187
h
should be used.
1.)
Deactivating PDO
If the PDO is active, it must first be deactivated.
Writing the identifier with bit 31
set (PDO is deactivated):
cob_id_used_by_pdo = C0000187
h
2.)
Deleting number of objects
Set the number of objects to zero
in order to be able to change the
object mapping.
number_of_mapped_objects = 0
3.)
Setting parameters for objects that are to be mapped
The above-listed objects must be
combined into a 32 bit value:
Index
=6041
h
Subin. =
00
h
Length =
10
h
first_mapped_object = 60410010
h
Index
=6061
h
Subin. =
00
h
Length =
08
h
second_mapped_object = 60610008
h
Index
=60FD
h
Subin. =
00
h
Length =
20
h
third_mapped_object = 60FD0020
h
4.)
Setting parameters for number of objects
The PDO should contain 3 objects
number_of_mapped_objects = 3
h
5.)
Parameterising transmission type
The PDO should be sent when changes
(to the digital inputs) are sent.
transmission_type = FF
h
To ensure that only changes to the
digital inputs result in
transmission, the PDO is masked so
that only the 16 bits of the object
60FD
h
"come through".
transmit_mask_high = 00FFFF00
h
transmit_mask_low = 00000000
h
The PDO should be sent no more than
every 10 ms (100 100 µs).
inhibit_time = 64
h
6.)
Setting identifier parameters
The PDO should be sent with identifier 187h.
Write the new identifier and
activate the PDO by deleting bit 31:

cob_id_used_by_pdo = 40000187h