Kollmorgen AKD PDMM series, Руководство пользователя

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AKD PDMM User Guide | 50.6 Flexible PDO Mappings
50.6 Flexible PDO Mappings
In addition to the fixed PDO - mapping the so-called flexible mapping of real-time obects is possible.
The configuration is similar to the described sequence for the fixed mappings:
1. The mapping selection is cleared (write 0 to object 0x1C12 sub 0 and 1C13 sub 0)
2. As the AKD PDMM - implementation is based on CANopen the real-time data are build from up
to 4 PDOs with 8 bytes in both directions. These PDOs are built in the same way as in a CAN-
drive with the objects 0x1600 - 0x1603 and 0x1A00 - 0x1A03. Unused PDOs must be cleared
with writing 0 to the subindex 0.
3. SDO write access to object 0x1C12 sub 1 .. 4 with the PDOs (0x1600 .. 0x1603), that should
be used in receive direction of the AKD PDMM (set point values).
4. SDO write access to object 0x1C13 sub 1 .. 4 with the PDOs (0x1A00 .. 0x1A03), that should
be used in transmit direction of the AKD PDMM (actual values).
5. SDO write access to the objects 0x1C12 sub 0 and 0x1C13 sub 0 with the number of mapped
PDOs in this direction.
See an example in chapter "Flexible PDO Mappings" (=> p. 484) .
The cyclically used data are visible in the PDO-assignment window for the Inputs and Outputs of the
Sync Managers. Default setting are the fixed PDOs 0x1701 and 0x1B01 (visible contents when selected
in the PDO list).
If the free mapping is required, the PDO configuration check box must be checked and changed.
484 Kollmorgen™ | December 2012