Danaher Motion 07/06 Overview
M-S2-021-11 Initial Release 15
PDO Configuration
There are two types of PDOs: Receive PDOs (RPDOs) and transmit PDOs (TPDOs). The content of the
PDOs is pre-defined. If the data content is not appropriate for a special application, the data objects in the
PDOs can be remapped freely.
There are two parameter sets each for the configuration of each of the four possible PDOs, and they can
be set up through the corresponding SDOs:
1. Mapping parameters, to determine which data are available (mapped) in the selected PDO and to
define, which data are contained.
2. Communication parameters that define whether the PDOs operate in synchronized mode or event-
driven (SDOs 1400
h
to 1403
h
, 1800
h
to 1803
h
).
One data entry in the PDOs looks like:
MSB LSB
index (16 bit) sub-index (8 bit) data length in bits (8 bit)
The configuration procedure for a free mapping of a PDO looks like this (example for TPDO1):
1. Delete the actual mapping of the PDO by writing a 0 to the subindex 0 of the mapping SDO.
Index
COB-ID Control byte
Low byte High byte
Sub-index Data Comment
601 2F 00 1A 00
h
00 00 00 00 Delete actual mapping
2. Build the mapping with object dictionary objects (see page )) which are mappable, e.g.
Index
COB-ID Control byte
Low byte High byte
Sub-index Data Comment
601 23 00 1A 01
h
10 00 41 60
1
st
etry:
CANopen statusword with 16 bit
601 23 00 1A 02
h
20 00 02 10
2
nd
entry:
Manufacturer status with 32 bits
3. Write the number of mapped objects to subindex 0 of the mapping SDO.
Index
COB-ID Control byte
Low byte High byte
Sub-index Data Comment
601 2F 00 1A 00
h
02 00 00 00 Check for the right number of entries
Mapping must be done before the network management is switched to OPERATIONAL.
