62 • Fieldbus Coupler 750-337, 750-338
Starting up a CANopen Fieldbus Node
WAGO-I/O-SYSTEM
750
CANopen
3.1.6.6 Application specific Mapping
An alternative to the use of the default mapping is to define the data to be
transmitted by PDOs in an application specific PDO mapping. For this pur-
pose, the coupler has to be in the PRE-OPERATIONAL status.
Details of how to proceed with an application specific mapping are explained
below.
Example:
The 3
rd
and the 5
th
2 byte analog input channel and the first 8 bit digital input
group are to be read using the TxPDO 2. For transmission purposes, the CAN
identifier 0x432 is to be used. Transmission must be synchronous with each
3
rd
SYNC object.
The default CAN IDs are used for the SDOs. The setting is made at node 8.
xx... is not evaluated
1. First of all, deactivate the PDO you wish to map.
In the present example, this is the TxPDO2.
To this effect, write value 0x80000000 into the object having the index
0x1801, sub-index 01 (Transmit PDO Communication Parameter).
Deactivating PDO:
CAN ID
Data
Transmit
608
0x23 01 18 01 00 00 00 80
Receive
588
0x60 01 18 01 xx xx xx xx
2. Then deactivate the PDO mapping by zeroing the number of mapping objects
in index 0x1A01, sub-index 0 (Transmit PDO Mapping Parameter).
Deactivating PDO mapping:
CAN ID
Data
Transmit
608
0x2F 01 1A 00 00 xx xx xx
Receive
588
0x60 01 1A 00 xx xx xx xx
3. Enter into the TxPDO mapping parameter structure (Index 0x1A01) the In-
dex, Sub-Index and the Object length of the application object.
Max. 8 bytes of data can be assigned per PDO.
Writing into the mapping parameter structure:
Application object
Index
Sub-Index
3. analog input channel
0x2400
3
5. analog input channel
0x2400
5
1. digital input group
0x2000
1
