Panasonic FPSIGMA, Technical Manual

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Programming Example, FP-FNS Block CANopen
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
FNS_32PDO_INTEGER.EDS, supports the data type integer16 (INT) only

FNS_32PDO_64UNSIGNED.EDS, supports the data type unsigned64 only

FNSCO4_64IO.EDS, only four RPDOs and four TPDOs are supported
If a mixture of data types is used, you can either handle the data in your application program or
use the file "FNSCO4_64IO.EDS". This file only supports up to four TPDOs and four RPDOs,
but several different data types can be mixed. Please note: only one entry per PDO is allowed,
so each PDO can consist of one data type only.
Independent of the .eds file used, due to the mapping scheme of the process data, a PDO can
only be composed of variables of the same data type.
Each entry of the DUT is represented as an individual manufacturer-specific object in the
CANopen object dictionary, whereas each element of a DUT is assigned to one subindex of
the object, according to the table below. DUTs with one element can be regarded as a
one-dimensional array with one element; DUTs with more than one element (arrays) are
represented as a one-dimensional array with several elements.
In this programming example both variables, the input and output process data, consist of
three elements:

a 16-bit integer variable (PDO1)

an array of a 16-bit integer variable with 2 elements (PDO2)

an array of a 16-bit integer variable with 4 elements (PDO3)
Thus in this programming example, the input structure InputCANStructure can be found at
the following indexes:

InputsCAN PDO1: index 2001h , subindex 01h

InputsCAN PDO2: index 2002h , subindex 01h and 02h

InputsCAN PDO3: index 2003h , subindex 01h to 04h
According to the list above, the output structure OutputCANStructure can be found at the
following indexes:

OutputsCAN PDO1: index 2021h , subindex 01h

OutputsCAN PDO2: index 2022h , subindex 01h and 02h

OutputsCAN PDO3: index 2023h , subindex 01h to 04h
Transmit PDO represents data that will be sent to the master. Thus, from the slave's
point-of-view, it has to be regarded as output data.