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CANopen Agile 06/2010 58
Objects
Mapping Procedure
The mapping procedure requires five steps:
Step 1: Set PDO to "not valid" (
0x1800
, Subindex 1, Bit 31 = 1)
Step 2: Set Subindex 0 to 0 (deactivate current mapping, 0x1A00, Subindex 0
= 0)
Step 3: Set Subindex 1 … n to the new Objects (0x1A00, Subindex 1..n = new
object)
Step 4: Set Subindex 0 to the number of mapped Objects (new mapping acti-
vated, 0x1A00, Subindex 0 = n)
Step 5: Set PDO "valid" (
0x1800
, Subindex 1, Bit 31 = 0)
In the example above TxPDO 0x1A00 was used. The same procedure can be used for
0x1A01 and 0x1A02. In these cases replace
0x1800
with
0x1801
and
0x1802
respec-
tively.
Example (Node ID = 1):
COB ID Control Byte Index Subindex Data Data
LSB MSB Subindex LSB … … MSB
Step 1: 601 23 00 18 01 84 01 00 80
Response 581 60 00 18 01 00 00 00 00
Step 2: 601 2F 00 1A 00 00 00
Response 581 60 00 1A 00 00 00
Step 3.1: 601 23 00 1A 01 10 00 44 60
Response 581 60 00 1A 01 00 00 00 00
Step 3.2 601 23 00 1A 02 10 00 41 60
Response 581 60 00 1A 02 00 00 00 00
Step 3.3 601 23 00 1A 03 10 00 01 30
Response 581 60 00 1A 03 00 00 00 00
Step 3.4 601 23 00 1A 04 10 00 02 30
Response 581 60 00 1A 04 00 00 00 00
Step 4: 601 2F 00 1A 00 04 00
Response 581 60 00 1A 00 00 00
Step 5: 601 23 00 18 01 84 01 00 00
Response 581 60 00 1A 00 00 00 00 00
Mapping Result
Control effort
(
0x6044
)
Status word
(
0x6041
)
Digital In
Actual Value
(
0x3001
)
Digital Out
Actual Value
(
0x3002
)
00 00 00 00 00 00
Note:
The number of mappable objects depends on the object lengths. The maximum number of bytes that
can be mapped is 8.