MTS Sensors Temposonics E-Series User Manual

Temposonics
®
E-Series CANopen
Operation Manual
30
5.6.5 SDO PDO mapping: Index 1A00 to index 1A03
This object contains the mapping for the PDOs the device is able to transmit. Make sure to disable the dedicated PDO by setting the number of
mapping entries to zero before changing it. Subindex 0x00 contains the number of valid object entries within the mapping record.
Example
COB ID
Request /
Respond
DLC
Byte
Description
0 1 2 3 4 5 6 7
0x67F Rx 8 0x40 0x00 0x1A 0x00 0x00 0x00 0x00 0x00
Readout of amount of currently mapping
PDOs “3”
0x5FF Tx 8 0x4F 0x00 0x1A 0x00 0x03 0x00 0x00 0x00
0x67F Rx 8 0x2F 0x00 0x1A 0x00 0x00 0x00 0x00 0x00
Set number of application objects “0 disable”
0x5FF Tx 8 0x60 0x00 0x1A 0x00 0x00 0x00 0x00 0x00
Subindex 1: PDO mapping for the 1st application object
0x67F Rx 8 0x23 0x00 0x1A
0x01 0x20 0x01 0x20 0x60
Set the mapping PDO1 to Position1
“Object: Index 6020 subindex 1;
length bits: 20h”
0x5FF Tx 8 0x60 0x00 0x1A 0x01 0x00 0x00 0x00 0x00
0x67F Rx 8 0x40 0x00 0x1A 0x01 0x00 0x00 0x00 0x00
Readout of the mapping PDO1 to Position1
“0x60200120”
0x5FF Tx 8 0x43 0x00 0x1A 0x01 0x20 0x01 0x20 0x60
Subindex 2: PDO mapping for the 2nd application object
0x67F Rx 8 0x23 0x00 0x1A 0x02 0x10 0x01 0x30 0x60
Set the mapping PDO1 to Velocity1
“Object: Index 6030 subindex 1;
length bits: 10h”
0x5FF Tx 8 0x60 0x00 0x1A 0x02 0x00 0x00 0x00 0x00
0x67F Rx 8 0x40 0x00 0x1A 0x02 0x00 0x00 0x00 0x00
Readout of the mapping PDO1 to Velocity1
“60300110h”
0x5FF Tx 8 0x43 0x00 0x1A 0x02 0x10 0x01 0x30 0x60
Subindex 3: PDO mapping for the 3rd application object
0x67F Rx 8 0x23 0x00 0x1A 0x03 0x08 0x01 0x00 0x64
Set the mapping PDO1 to WorkAreaRegister,
Object 0x6400, subindex 0x01, length 8 bits
0x5FF Tx 8 0x60 0x00 0x1A 0x03 0x00 0x00 0x00 0x00
0x67F Rx 8 0x40 0x00 0x1A 0x03 0x00 0x00 0x00 0x00
Readout of the mapping PDO1 to
WorkAreaRegister “64000108h”
0x5FF Tx 8 0x43 0x00 0x1A 0x03 0x08 0x01 0x00 0x64
Set number of application objects
0x67F Rx 8 0x2F 0x00 0x1A 0x00 0x03 0x00 0x00 0x00
Set number of application objects to “3”
0x5FF Tx 8 0x60 0x00 0x1A 0x00 0x00 0x00 0x00 0x00
Example 5: How to modify the PDO settings

MTS Sensors Temposonics E-Series Specifications

General

Brand	MTS Sensors
Model	Temposonics E-Series
Category	Accessories
Language	English