IFM ecomatmobile ecomat100 CR1080, Системное руководство

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ifm System Manual ecomat mobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28
CAN in the PDM360 CAN POUs to CANopen
268
To be able to open the parameter manager the parameter manager must be activated in the target
settings under [Network functionality]. The areas for index/sub-index already contain sensible values
and should not be changed.
In the default PDO mapping of the CANopen slave the index/sub-index entry is then assigned to a
receive PDO as mapping entry. The PDO properties can be defined via the dialogue known from
chapter
Add and configure CANopen slaves ( → page 249 ).
Only objects from the parameter manager with the attributes [read only] or [write only] are marked in
the possibly generated EDS file as mappable (= can be assigned) and occur in the list of the
mappable objects. All other objects are not marked as mappable in the EDS file.
NOTE
If more than 8 data bytes are mapped to a PDO, the next free identifiers are then automatically used
until all data bytes can be transferred.
To obtain a clear structure of the identifiers used you should add the correct number of the receive and
transmit PDOs and assign them the variable bytes from the list.
Changing the standard mapping by the master configuration
1984
You can change the default PDO mapping (in the CANopen slave configuration) within certain limits by
the master.
The rule applies that the CANopen slave cannot recreate entries in the object directory which are not
yet available in the standard mapping (default PDO mapping in the CANopen slave configuration). For
a PDO, for example, which contains a mapped object in the default PDO mapping no second object
can be mapped in the master configuration.
So the mapping changed by the master configuration can at most contain the PDOs available in the
standard mapping. Within these PDOs there are 8 mapping entries (sub-indices).
Possible errors which may occur are not displayed, i.e. the supernumerary PDO definitions /
supernumerary mapping entries are processed as if not present.
In the master the PDOs must always be created starting from 1400
16
(receive PDO communication
parameter) or 1800
16
(transmit PDO communication parameter) and follow each other without
interruption.