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Appendix E CANopen Function |
E-8 Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11
Type number 255 indicates the data is asynchronous transmission.
All PDO transmission data must be mapped to index via Object Dictionary.
Example:
Master transmits data to SlavePDO
PDO1
CAN(H)
CAN(L)
Master
Slave
PDO1 data value
Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88,
Index
Sub
Definition
Value
R/W Size
1. Mapped Object
0. Number
2. Mapped Object
3. Mapped Object
4. Mapped Object
0
1
2
3
4
0x1600
0x1600
0x1600
0x1600
0x1600
R/W
R/W
R/W
R/W
R/W
1
0
0
0
U8
U32
U32
U32
U32
0x6040
0. Control word0
R/W
U16
PDO1 Map
0x60400010
(2 Bytes)
0x60400010
0x2211
Slave returns message to Master
PDO1
CAN(H)
CAN(L)
Master
Slave
PDO1 data value
Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
0xF3, 0x00,
Index Sub Definition Value R/W Size
1. Mapped Object
0. Number
2. Mapped Object
3. Mapped Object
4. Mapped Object
0
1
2
3
4
0x1A00
0x1A00
0x1A00
0x1A00
0x1A00
R/W
R/W
R/W
R/W
R/W
1
0
0
0
U8
U32
U32
U32
U32
0x6041
Status Word0
R/W
U16
PDO1 Map
0x60410010
0xF3