Intelligent Motion Systems DSP-402 manual PDO Mapping Procedure Consumer PDO

PDO Mapping

The MDrivePlus CANopen allows you to map objects to PDOs to reduce the transfer application data more efficiently. By using the PDO the user can map a PDO to multiple objects (8 Data Bytes max.)

The example will show RPDO 1400h mapped to Control Word (6040h) and Target Position (607Ah).

RPDO Index

Sub-Index

Mapped To Index

Bytes

1600h	00h
1600h	01h	6040h	2
1600h	02h	607Ah	4

PDO Mapping Procedure (Consumer PDO)

PDO Mapping Example 1: Profile Position Mode – Mapping ControlWord and Target Position to RPDO1

Step	Action	Index	Sub-Index	Bytes	Value
1	Place MDrive in PreOperational State			—
2	Turn Off RPDO1	1400h	01	—	8000 01C0h
3	Set 1600h Sub-Index 00 to 0	1600h	00	—	0h
4	Map ControlWord 6040h to 1600.01h, Establish New	6040h	00	2	005Fh
	Set Point
5	Map target_position 607Ah to 1600.02h	607Ah		4	Desired Axis
					Position in Hex
6	Set 1600h.00 to 2 Max Sub-Indexes	1600h	00	—	2h
7	Turn On RPDO1	1400h	00	—	0000 01C0h
8	Place MDrive in Profile Position Mode	6060h	00	1	1h

9Place MDrive in Operational State

10 Send PDO to MDrive

Note: Before re-sending the PDO to the MDrive, the old set-point must be cleared by sending 6040.00h 004Fh in a second PDO or in an SDO.

Default Mapping Example - Consumer PDO 2

Index
	1601h	SubIndex
		0	= 2	(# of SubIndex Entries
		1	= 2	Byte ControlWord (6040h)
		2	= 4 Byte Commanded SetPoint (607A)

	BYTES 0	- 1		BYTES 2 - 5			BYTE 6 - 7
RPDO 2	ControlWord		Set-Point (Position) Data				Unused
	003Fh		00	00	00	00

		0		1	1	1	1	1
abs				.
		immed				Enabled
				-point
	/rel				F = Operation
			set
	set
change	new			MUST be reset to zero
				Transition Bit

between set-points

ControlWord = 03Fh Move to Absolute SetPoint

ControlWord = 05Fh

Move to Relative SetPoint

ControlWord = 00Fh Reset New Set-Point Bit to Prepare for Next Move

MDrive CANopen

Node

Figure 2.3: PDO Mapping Showing the Default Mapping for RPDO2

10 MDrivePlus CANopen R020507