Starting up the device - CANopen interface
Leuze electronic
CML 720i Ex
85
Standard procedure for the TPDO mapping:
Set the device to the
Preoperational
state.
In the desired TPDO Transmit PDO communication parameter 1 … 28 (objects 0x1800 … 0x181B), set
the COB-ID (sub-index 1) to 0x80000xxx (where the xxx part is node-dependent) and transmit this
COB-ID to the device.
This sets the invalid bit, thereby making the TPDO entry invalid.
In the desired TPDO Transmit PDO mapping parameter 1 … 28 (objects 0x1A00 … 0x1A1B), set the
entry for the number of the following elements (sub-index 0,
numOfEntries
) to 0 and transmit this to the
device.
An existing mapping is thereby deleted.
Then reset this entry to the number of desired mapping elements, whereby a maximum of 4 elements
per TPDO are possible.
Transmit this entry back to the device.
Set the mapping entries to the desired values. Each of the mapping sub-indices contains a 32-bit value
that is structured as follows: SDO object number, sub-index and length. Normally (depending on the
used master), the respective settings can be selected from a list.
After completing the mapping, transmit the complete TPDO Transmit PDO mapping parameter 1 … 28
object to the device.
In the TPDO Transmit PDO communication parameter 1 … 28 object (objects 0x1800 … 0x181B), set
the transmission type (sub-index 2
Transmission type
) and, if applicable, the event timer (sub-index 5,
Event timer
).
In the same TPDO object, set the COB-ID (sub-index 1) to 0x00000xxx (where the xxx part is node-
dependent) and transmit the complete TPDO object including all sub-indices to the device. This resets
the invalid bit, thereby making the TPDO entry valid.
Set the device to the
Operational
state.
With operating mode set to
Transmission type
, the device starts to send process data (PDOs).
Transmit PDO mapping parameter 1
1A00
t32U
RW
Mapped objects
in PDO 1
Transmit PDO mapping parameter 2
1A01
t32U
RW
Mapped objects
in PDO 2
Transmit PDO mapping parameter 3
1A02
t32U
RW
Mapped objects
in PDO 3
Transmit PDO mapping parameter 4
1A03
t32U
RW
Mapped objects
in PDO 4
....
....
....
....
....
Transmit PDO mapping parameter 28
1A1B
t32U
RW
Mapped objects
in PDO 28
Parameter
Index
(hex)
Sub-
index
(hex)
Data
type
Access
Min.
value
Max. value Default Explanation
The following standard procedure for the TPDO mapping may vary depending on the used con
-
figuration software.
NOTICE
Boundary conditions for object descriptions!
Beginning with firmware V2.16, no process data settings are automatically stored in non-volatile mem
-
ory (remanent). The <Save> command is always to be used.
