CO4011A-FL Datasheet, PDF (18/37 Pages) List of Unclassifed Manufacturers – Single Chip CANopen Controller for Remote I/O

CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index
1400h Subindex 4
Name
Reserved
Description -
Data Type
-
Access modes -
PDO Mapping No
Value Range -
Default Value -
Index
1400h Subindex 5
Name
Event Time
Description -
Data Type
Unsigned 16
Access modes RW
PDO Mapping No
Value Range -
Default Value 0
The PDO communication parameter objects have
the same structure for all PDOs. The following
Objects are used.
Index
1400h
1401h
1800h
1801h
PDO
Receive PDO1 (digital output)
Receive PDO2 (analog output)
Not implemented in CO4011A
Transmit PDO1 (digital input)
Transmit PDO2 (analog input)
PDO Mapping Objects
The following table shows the PDO Mapping
Objects. The principle of PDO mapping is the same
for all PDOs. The PDO Mapping table is the cross
reference between the Object dictionary entries (for
example the data of an digital output byte) and the
data field inside an PDO data field (position in the
data field of a CAN message for PDO transfer).
Subindex 0 determines the valid number of objects
that have been mapped. The CO4011 allows a
maximum of 8 mapped objects for each PDO. For
changing the PDO mapping first subindex 0 must be
set to 0 (mapping is deactivated). Then the objects
can be remapped. When a new object is mapped by
writing a subindex between 1 and 8, the device may
check whether the object specified by index
/subindex exists. If the object does not exist or the
object cannot be mapped, the SDO transfer will be
aborted.
If the special CAN features are enabled (CFG3=0),
the CO4011 allows adding of additional mapping
entries without resetting subindex 0. In this case the
device calculates the number of mapped objects by
itself and modifies subindex 0 respectively.
Subindexes 1 to 8 keep the pointers of the mapped
objects as unsigned 32 values. The value is 0 if there
is no mapped object. The structure for these pointers
is as follows.
MSB
Byte3 Byte2
Mapped index
Byte1
Subindex
LSB
Byte0
Length
Mapped Index and Subindex together are the
Pointer to the Object dictionary data to be
mapped at this location.
Length gives the length of the mapped object in
bits.
The following mapping object uses index 1600 as an
example for all mapping objects.
Index
Name
Description
Data Type
1600h
Receive PDO1
Mapping Parameters
-
Array
Index
1600h Subindex 0
Name
Largest SubIndex supported
Description Number of mapped objects
Data Type
Unsigned 8
Access modes RW
PDO Mapping No
Value Range -
Default Value According to operation mode
Index
1600h Subindex 1 to 8
Name
Mapped object
Description
Data Type
Unsigned 32
Access modes RW
PDO Mapping No
Value Range -
Default Value According to operation mode
Example:
As an example for PDO mapping, the following table
shows the default mapping for transmit PDO1 in
operation mode 0 (20 digital in/12 digital out).
Index Entry
Explanation
1A00.00 3
There are 3 mapped objects
in transmit PDO1
1A00.01 60000108h First mapped object:
Input Byte0
1A00.02 60000208h First mapped object:
Input Byte1
1A00.03 60000308h First mapped object:
Input Byte2
The data of the transmit PDO1 for this example will
be three bytes. (Input Bytes 0 to 3)
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Page 18 of 18
Revision 1.39
May/19/2003