Baumer BA_DSRT_22DJ - Handbuch (Seite 47)

Manual_CANopen_StrainLink_EN_V3_05.doc 47/65 Baumer
22.07.11/dam Frauenfeld, Switzerland
6.5.4 Transmit PDO 2 communication
Object 1801h (Transmit PDO communication parameter):
The setting of Transmit PDO2 is made with the object 1801h.
This object is similar to the object 1800h. Detailed information se the previous section in this manual.
6.5.5 Transmit PDO 3 communication
Object 1802h (Transmit PDO communication parameter):
The setting of Transmit PDO3 is made with the object 1802h.
This object is similar to the object 1800h. Detailed information se the previous section in this manual.
6.5.6 Transmit PDO 1 mapping parameter
Via the object 1A00h, the mapping of the Transmit PDO 1 can be interrogated.
The object has the following structure:
Index Sub-index Name Length Access
0 Number of mapped objects TPDO1 1 Byte read / write
1 1
st
application object 4 Byte read / write
1A00h
2 2
nd
to 4
th
application object 4 Byte read / write
How to set the mapping:
The sent PDO 1 has 8 Bytes. This PDO is freely configurable by the user.
The following objects can be chosen:
Index Sub-index Name Length
7130 01 Process value 16bit 2 Bytes
8130 01 Process value 24bit 3 Bytes
6150 01 Status of measurement 1 Byte
1001 00 Error register 1 Byte
2004 00 Status autozero 2 Byte
Switch off mappings
(Index 1A00, set Sub-Index 00 to 0)
Switch off PDO
(Index 1800, Sub-Index 01, set Byte 8 to C0h)
Adjust Mapping
(Index 1A00, Sub-Index 01 – XX)
Switch on Mapping
(Index 1A00, Sub-Index 01 insert quantity of
mapped parameters)
Switch on PDO again
(Index 1800, set Sub-Index 00 Byte 8 to 40h)