Kohler Curtis F Series User Manual

APPENDIX A
Curtis AC F2-A, F4-A, F6-A Motor Controllers – FOS 4.5 – April 2022 Return to TOC
pg. 250
EXAMPLE FOR RPDO MAPPING WITH SDO WRITES
For this example, to set up RPDO1, and map VCL_rottle (0x3366 0x00) and User1 (0x4500 0x00):
Send CAN messages in the following table’s order to set up RPDO1 mapping on a device with
Node ID 0x28.
An example using PCAN-View messages is shown, steps 1 – 9 in the PCAN-View Comment
column, below.
Note that the data elds are in Little Endian format (e.g., Object Index 0x3366.00 is input as 00 66
33), and this example uses Node ID = 0x28
Header Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Description
000 80 28
Send NMT Pre-Operational
node 0x28
626 23 00 14 01 28 02 00 80
4-Byte SDO Write:
Disable RPDO1
626 2F 00 16 00 00
1-byte SDO Write:
Disable Map/Set Length to 0
626 23 00 16 01 10 00 66 33
4-byte SDO Write:
Map 1
st
Object as VCL_Throttle
626 23 00 16 02 08 00 00 45
4-Byte SDO Write:
Map 2
nd
Object as User1
626 2F 00 16 00 02
1-Byte SDO Write:
Enable Map/Set Length to 2
626 2B 00 14 05 C8 00
2-byte SDO Write:
Set PDO Timeout to 200 ms
626 23 00 14 01 28 02 00 00
4-Byte SDO Write:
Enable PDO
000 01 28 Send NMT Operation node 0x28
e resulting PDO Mapping record:
PDO Record Mapped Object Data Description
1400.01 00 00 02 28h RPDO1 communication object enabled for node 0x28
1400.05 00 C8h RPDO1 timeout set to 200 ms
1600.00 02h RPDO1 map length of 2
1600.01 33 66 00 10h RPDO1 rst mapped object 3366.00 (VCL_Throttle) with 16 bit length
1600.02 45 00 00 08h RPDO1 second mapped object 4500.00 (User1) with 8 bit length in RPDO1

Kohler Curtis F Series Specifications

General

Brand	Kohler
Model	Curtis F Series
Category	Controller
Language	English