Wieland samos PRO, Manual

Page: 147 / 192

CANopen gateway
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
147
Table 112: Content of SDO 3100
SDO array Data set parameters Module Size
3100.1-3 Status of Module 0 Controller
module UDINT
3100.4 Status of Module 1 Expansion UDINT
… … … …
3100.14 Status of Module 11 Expansion UDINT
3100.15 Status of Module 12 Expansion UDINT
NOTICE
The positions of the modules are numbered in the samosPLAN 6 from 0 to 14. Thus the sub-index
for SDO 3100 = Po 3, with the first three sub-indices for the SP-COPx module being used.
SDO 3100 can only be read.
SDO 3200: Config-CRC
SDO 3200 contains the system CRCs in UDINT format.
SDO 6000: Process data input objects
The 32 bytes of the process input data can be written into SDO array 6000. These are the same data
as in RxPDO 1-4 (see PDO Communication [ch. 10.8, p. 138] ). The mapping is as follows:
Table 113: Mapping table for SDO 6000 – RxPDO 1-4
SDO 6000 RxPDO
6000.1 RxPDO 1, Byte 1
… …
6000.8 RxPDO 1, Byte 8
6000.9-16 RxPDO 2, Byte 1-8
6000.17-24 RxPDO 3, Byte 1-8
6000.25-32 RxPDO 4, Byte 1-8
SDO 6000 can only be written.
SDO 6200: Process data output objects
The 32 bytes of the process output data can be written into SDO array 6200. These are the same data
as in TxPDO 1-4 (see PDO Communication [ch. 10.8, p. 138] ). The mapping is as follows:
Table 114: Mapping table for SDO 6200 – TxPDO 1-4
SDO 6200 TxPDO
6200.1 TxPDO 1, Byte 1
… …
6200.8 TxPDO 1, Byte 8
6200.9-16 TxPDO 2, Byte 1-8
6200.17-24 TxPDO 3, Byte 1-8
6200.25-32 TxPDO 4, Byte 1-8
SDO 6200 can only be read.