Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018
Art. No. 88734
Mod. status 330/18
Page 15 of 51
RTR
Queries can be sent via RTR (see chapter
: Telegram s, control field) to TPDO1 and TDPO2.
5.3.1.2
Variable TPDO mapping
By changing objects 1A00h and 1A01h you can specify the data content to be transferred in
the TPDOs. The maximum of 8 data bytes can be mapped in a TPDO.
Procedure of changing the TPDO mappings:
1.
The device must be in the Pre-Operational NMT status.
2.
By setting the COB-ID Valid bit to 1, the corresponding TPDO will be disabled.
3.
Mapping is disabled by writing sub-index 00h to 0h.
4.
Mapping is changed by writing into the desired sub-indexes the desired objects and the
data length.
5.
In order to enable mapping, the maximally used sub-index must be entered in sub-index
00h.
6.
The TPDO is reactivated by deleting the Valid bit of COB-ID on 0.
Example of changing a TPDO1 mapping:
Default setting:
Node ID: 1h
TPDO1: COB-ID 00000181h
Mapping:
1A00.0h
2
1A00.1h
60040020h (position value object 6004h, sub-index 00h, 32bit)
1A00.2h
60300110h (speed object 6030h, sub-index 01h, 16bit)
Desired mapping:
1A00.0h
3
1A00.1h
60040020h (position value object 6004h, sub-index 00h, 32bit)
1A00.2h
51220108h (Sys Register object 5122h, sub-index 01h, 8bit)
1A00.3h
51220208h (Flag 0 Register object 5122h, sub-index02h, 8bit)
1.
User dataThe device must be in the Pre-Operational NMT status.
2.
Disable TPDO1 via COB-ID = 80000181h.
COB-ID User data
Command
Index L Index H Subindex Data 0 Data 1 Data 2 Data 3
601h
23h
00h
18h
01h
81h
01h
00h
80h
