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PowerTruck_CANOpen_UM_REV1.5
24. Object 1601h: Receive PDO mapping Parameter 1
Describes the mapping of LED blink state PDO Message.
Identifier 615h (600h + current CAN ID)
Byte 0 40h Read Device Register
Byte 1 01h CAN Object 1601h
Byte 2 16h
Byte 3 00h Number of mapped objects
01h PDO Mapping Entry 1
02h PDO Mapping Entry 2
03h PDO Mapping Entry 3
04h PDO Mapping Entry 4
05h PDO Mapping Entry 5
Byte 4,7 00h Not used
Examples:
Direction Identifier Format Message Data
To Keypad 615 Std 40 01 16 00 00 00 00 00
Keypad reply 595 Std 4F 01 16 00 05 00 00 00 5
To Keypad 615 Std 40 01 16 01 00 00 00 00
Keypad reply 595 Std 43 01 16 01 18 03 01 20 2001 03 18
To Keypad 615 Std 40 01 16 02 00 00 00 00
Keypad reply 595 Std 43 01 16 02 18 04 01 20 2001 04 18
To Keypad 615 Std 40 01 16 03 00 00 00 00
Keypad reply 595 Std 43 01 16 03 08 04 02 20 2002 04 08
To Keypad 615 Std 40 01 16 04 00 00 00 00
Keypad reply 595 Std 43 01 16 04 08 05 02 20 2002 05 08
To Keypad 615 Std 40 01 16 05 00 00 00 00
Keypad reply 595 Std 43 01 16 05 08 06 02 20 2002 06 08
Receive PDO mapping Parameter 1:
•
Number of mapped objects: 5;
•
Blink KEY LED green: Object 2001h, Sub index 03h, Length 18h;
•
Blink KEY LED red: Object 2001h, Sub index 04h, Length 18h;
•
Blink RING LED green: Object 2002h, Sub index 04h, Length 08h;
•
Blink RING LED red: Object 2002h, Sub index 05h, Length 08h;
•
Blink RING LED blue: Object 2002h, Sub index 06h, Length 08h.