DTM434 DTM435
31
9.2.2.2 Example 2
The data range 0x44 to 0x48 (4 bytes) is to be transferred with the 6th TPDO.
TPDO
Settings
for PDO
mapping:
COB
Object
directory:
Object
index
Object
directory:
Object
sub-
index
Object
directory:
Object
length
6
Node ID + 0x0680
0x220A
0x05
0x40
Object directory
Index
Sub-index
Name (object)
Value
0x2200
0x05
Read start of the address
(start of the address range on
the ID tag to be read)
0x44
0x2201
0x05
Read length (length of the
memory range on the ID tag
to be read; max. 8 bytes)
0x04
9.2.3 Write data to the ID tag via PDO transfer
To write data to an ID tag via PDO transfer an
must be assigned to the object 0x230A with a
sub-index in the range from 0x01 to 0x40. The address of the ID tag user data range to which the data
is to be written is defined in object 0x2300. The subindices of these objects have to be identical.
The ID tag is written to after the data was written to the RPDO and the respective bit was changed in
the "Write trigger" object (OV index 0x230F, sub-index 0x00).
MSB
LSB
Bit
63
62
61
..
..
..
2
1
0
Trigger
tr64
tr63
tr62
..
..
..
tr3
tr2
tr1
Default
value
0
0
0
0
0
0
0
0
0
Trigger
Description
tr64
Trigger for ID tag data 64 (0x230A/0x40)
tr63
Trigger for ID tag data 63 (0x230A/0x3F)
tr62
Trigger for ID tag data 62 (0x230A/0x3E)
tr61
Trigger for ID tag data 61 (0x230A/0x3D)
tr60
Trigger for ID tag data 60 (0x230A/0x3C)
tr59
Trigger for ID tag data 59 (0x230A/0x3B)
tr58
Trigger for ID tag data 58 (0x230A/0x3A)
…
…
tr6
Trigger for ID tag data 6 (0x230A/0x6)
tr5
Trigger for ID tag data 5 (0x230A/0x5)
tr4
Trigger for ID tag data 4 (0x230A/0x4)
tr3
Trigger for ID tag data 3 (0x230A/0x3)
tr2
Trigger for ID tag data 2 (0x230A/0x2)
tr1
Trigger for ID tag data 1 (0x230A/0x1)
The writing process is always made with the bit change of the respective bit (0->1 or 1->0). Ideally, the
object "Write trigger" (OV index 0x230F, sub-index 0x00) is assigned to an RDPO. On delivery, the
object "Write trigger" is assigned to the first RPDO.
