Applied-motion ST10-C-CE Bedienungsanleitung PDF herunterladen (Seite 93)

100

101

920-0025 Rev K

3/5/2015

CANopen User Manual

PDO Mapping Procedure

Table 30: PDO Mapping Example

Default Mapping Example - Consumer PDO 2

Figure 19: PDO Mapping Showing the Default Mapping for RPDO2

PDO Mapping Example 1: Mapping StatusWord and Position_Actual_Value to TPDO2

Step Action Index Sub Bytes Value

1 Return back “PreOperation“ State

2 Turn off TPDO2 1801

80000280

3 Set the number of Mapped objects to 0 1A01

4 Map StatusWord to TPDO2 mapped object1 1A01

2 60410010

5 Map Position_actual_value to TPDO2 mapped object2 1A01

4 700A0020

6 Set the number of Mapped objects to 2 1A01

7 Turn On TPDO2 1801

00000280

1601h

0 = 2 (# of SubIndex Entries

1 = 2 Byte ControlWord (6040h)

2 = 4 Byte Target Position (607A)

RPDO 2

BYTES 0 - 1

BYTES 2 - 5 BYTE 6 - 7

ControlWord

003F

Target Position (Position) Data

Unused

110 1 1 1

F = Operation

Enabled

abs/rel

change set immed.

new set-point

00 00 00 00

Index

SubIndex

ControlWord = 03F

Move to Absolute SetPoint

ControlWord = 05F

Move to Relative SetPoint

ControlWord = 00F

Reset New Set-Point Bit

to Prepare for Next Move

Transition Bit

MUST be reset to zero

between set-points

1 2 ... 88 89 90 91 92 93 94 95 96 97 98 99 100 101

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