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920-0025 Rev K
3/5/2015
CANopen User Manual
A device that supports dynamic mapping of PDOs must support this during the PRE-OP-
ERATIONAL state. If dynamic mapping during the OPERATIONAL state is supported, the SDO
client is responsible for data consistency.
Figure 11: Principle of PDO mapping
Object Type Sub Number
Record 9
Subindex Name Data Type
Access
Type
PDO
Mapping
COS Default value
00
Number of
mapped objects
UNSIGNED8 rw no no 0
01 mapped object 1 UNSIGNED32 rw no no 0x00000000
02 mapped object 2 UNSIGNED32 rw no no 0x00000000
03 mapped object 3 UNSIGNED32 rw no no 0x00000000
04 mapped object 4 UNSIGNED32 rw no no 0x00000000
05 mapped object 5 UNSIGNED32 rw no no 0x00000000
06 mapped object 6 UNSIGNED32 rw no no 0x00000000
07 mapped object 7 UNSIGNED32 rw no no 0x00000000
08 mapped object 8 UNSIGNED32 rw no no 0x00000000
0x1600 - 0x1603 RPDO mapping parameter (To change mapping, ‘Number of mapped
objects’ must be set to 0)
Number of mapped objects
mapped object (subindex 1...8)
bit 0-7: data length in bits
bit 8-15: subindex from OD
bit 16-31: index from OD
Appl. Obj. 2
PDO:
zzzzh
zzzzh
xxxxh
xxxxh
0
3
1
2
3
yyyyh
yyyyh
zzh
zzh
yyh
yyh 08h
10h
08h
xxh
xxh
Application Object 3
Application Object 2
Application Object 1
Object Dictionary
PDO Mapping
Appl. Obj. 1
Application Object 3
- Applied Motion Products 1
- CANopen Manual 1
- Introduction 2
- User Advisory: 2
- Contents 3
- List of Tables 6
- Reference Documents 8
- Commonly Used Acronyms 8
- Drive Setup 9
- CANopen BitRate & NodeID 10
- Drive Conguration 11
- Figure 4: 12
- Object Dictionary 13
- Electronic Data Sheet 14
- INTEGER16 RW Yes 16
- Table 5: CiA 402 Objects 17
- 920-0025 Rev K 18
- 3/5/2015 18
- CANopen User Manual 18
- General Purpose Registers 19
- Index (hex) Object 20
- Communication Prole 21
- COS Default value 25
- Subindex Name Default value 25
- Object Type Sub Number 30
- Manufacturer Specic Objects 38
- Device Prole 45
- 0x6041 StatusWord 46
- Mode of Operation Action 49
- Position polarity 52
- Bit number Description 56
- Appendix C - Response Codes 60
- General Mode Description 61
- Enable Prole Position Mode 61
- Set Running Parameters 61
- Starting/Stopping Motion 61
- Figure 12: Single Set-Point 62
- Enable Prole Velocity Mode 66
- Enable Drive Operation 66
- Appendix F - Homing Methods 68
- Homing Method 2 69
- Homing Method 3 69
- Homing Method 4 70
- Homing Method 5 70
- Homing Method 6 71
- Homing Method 7 71
- Homing Method 8 72
- Homing Method 9 72
- Homing Method 10 73
- Homing Method 11 73
- Homing Method 12 74
- Homing Method 13 74
- Homing Method 14 75
- Homing Methods 15 and 16 75
- Homing Method 17 76
- Homing Method 18 76
- Homing Methods 19 and 20 77
- Homing Methods 21 and 22 78
- Homing Methods 23 and 24 79
- Homing Methods 25 and 26 80
- Homing Methods 27 and 28 81
- Homing Methods 29 and 30 82
- Homing Methods 31 and 32 83
- Homing Method 33 83
- Homing Method 34 84
- Homing Method 35 84
- Enable Prole Torque Mode 85
- Starting/Stopping Torque 86
- Current Verication - Example 86
- Appendix H - Q Program Mode 88
- More Information 89
- NMT Mode NMT Control 90
- NMT Status Code 90
- (Heartbeat) 90
- PDO Access 91
- TPDO Transmission Types 92
- PDO Mapping Procedure 93
- Default PDO Mapping - Stepper 94
- Default PDO Mapping - Servo 94
- PDO COB-ID 95
- Control Word of Homing Mode 97
- Status Word of Homing Mode 97
- Control Word of Q Mode 98
- Status Word of Q Mode 98
- Appendix L – Example Programs 99
- Prole Velocity Mode 100
- Homing Mode 100
- Normal Q Mode 101
- Sync Q Mode 101
- PDO Mapping 101
- Applied Motion Products, Inc 101
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