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    Good To Know: PDO Re-Mapping Procedure

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    frankersinat
    The document discusses CANopen PDO mapping, which describes which process variables are transmitted in PDO messages. It outlines the required PDO re-mapping procedure according to CiA 301, which involves disabling the existing PDO mapping, modifying the mapping, and then re-enabling it. The procedure must be followed to avoid inconsistencies between the transmitter and receiver mappings.

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    Good To Know: PDO Re-Mapping Procedure

    Uploaded by

    frankersinat
    48 views2 pages
    The document discusses CANopen PDO mapping, which describes which process variables are transmitted in PDO messages. It outlines the required PDO re-mapping procedure according to CiA 301, which involves disabling the existing PDO mapping, modifying the mapping, and then re-enabling it. The procedure must be followed to avoid inconsistencies between the transmitter and receiver mappings.

    Original Description:

    CANopen

    Original Title

    TPDO config

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    The document discusses CANopen PDO mapping, which describes which process variables are transmitted in PDO messages. It outlines the required PDO re-mapping procedure according to CiA 301, which involves disabling the existing PDO mapping, modifying the mapping, and then re-enabling it. The procedure must be followed to avoid inconsistencies between the transmitter and receiver mappings.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    48 views2 pages

    Good To Know: PDO Re-Mapping Procedure

    Uploaded by

    frankersinat
    The document discusses CANopen PDO mapping, which describes which process variables are transmitted in PDO messages. It outlines the required PDO re-mapping procedure according to CiA 301, which involves disabling the existing PDO mapping, modifying the mapping, and then re-enabling it. The procedure must be followed to avoid inconsistencies between the transmitter and receiver mappings.

    Copyright:

    © All Rights Reserved
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    of 2

    CANopen

    Good to know:
    PDO re-mapping
    procedure

    PDO mapping is one of the essential features of CANopen: it describes which


    individual process variables in the data field of a PDO are transmitted. CiA 301
    requires a dedicated re-mapping procedure.

    T he Process Data Object (PDO) service allows


    exchanging one or several process variables in
    one single CAN message. The PDO mapping parameter
    Disable PDO mapping by setting the sub-index 00h of the
    PDO mapping parameter to 00h.
    Modify PDO mapping by changing the values of
    describes which objects in the CANopen object dictionary the corresponding sub-indices of the PDO mapping
    are transmitted by the sender. The PDO receiver parameters.
    uses also a PDO mapping parameter, which specifies Enable PDO mapping by setting the sub-index 00h to the
    where to store the received process data in the CANopen number mapped process data.
    object dictionary. The PDO mapping parameter of the “Create” a TPDO by setting the valid bit to 0b of
    transmitter and the sender may use different pointers sub-index 01h of the TPDO communication parameter.
    (16-bit index and 8-bit sub-index) depending on the If the CANopen device detects that the index and sub-
    CANopen profile. index of the mapped object does not exist or the object can-
    In some simple devices, the user does not have the not be mapped during step 3, the CANopen device responds
    possibility to configure the PDO mapping parameters. This with the SDO abort transfer service (abort code: 0602 0000h
    is called static PDO mapping (take it or leave it). More or 0604 0041h). If the CANopen device detects that the
    sophisticated devices provide variable PDO mapping. This RPDO mapping is not valid or not possible during step 4, the
    means the system designer can re-configure the default CANopen device responds with the SDO abort transfer ser-
    PDO mapping or generate new PDOs. Normally, this is vice (abort code: 0602 0000h or 0604 0042h). This is tested
    done in the NMT pre-operational state, when the PDOs in the CANopen conformance test.
    are disabled. Of course, the user can
    also reconfigure the PDO mapping in Figure 1: Example of PDO mapping for CiA 401
    the NMT operational state, but then it devices (eight digital values and one 16-bit-analog
    is necessary to avoid inconsistencies value) – application-specific TPDO mapping (left
    in the PDO mapping on the producer object dictionary) and corresponding application-
    and the consumer side. To avoid specific RPDO mapping (right object dictionary)
    this, the PDO must not be produced
    until the entire reconfiguration is
    finished.
    The CiA 301 application layer
    specification requires a dedicated
    re-mapping procedure:
    “Destroy” the TPDO by setting the
    valid bit to 1b of sub-index 01h of the
    TPDO communication parameter.

    28 CAN Newsletter 2/2016


    Normally, the corresponding RPDO mappings need has not been “destroyed” or the mapping has not been
    to be re-configured too. This should be done before the disabled. Note: The system designer is responsible for
    TPDO is enabled again. At least between step 4 and 5, the consistency of the TPDO and the RPDO mapping
    all related RPDO mappings should be reconfigured, if parameters.
    necessary. Of course, the user can also first re-map all
    RPDO mappings (either between step 1 and step 2 or
    between step 2 and step 3).
    By the way, the re-mapping in NMT operational state
    is called dynamic PDO mapping (e.g. in the CANopen

    device is correctly implemented, the RPDO re-mapping


    follows the same procedure as the TPDO re-mapping: Author
    “Destroy” the RPDO, disable the RPDO mapping, modify
    the RPDO mapping, enable the RPDO mapping, and Holger Zeltwanger
    finally “create” the RPDO. Of course, this should be done CAN in Automation
    for all TPDO-corresponding RPDOs, if the TPDO is sent [email protected]
    in multi- or broad-cast. www.can-cia.org
    If the CANopen device receives a PDO that has
    more data bytes than the number of mapped data bytes
    (length), then the CANopen device uses the first data
    bytes up to the length and sends an EMCY message. If
    a CANopen device receives a PDO with less data bytes
    than the number of mapped data bytes (length), then
    the CANopen device sends an EMCY message with the
    error code 8210 h.
    If the TPDO or RPDO re-mapping procedure is Related article
    not followed, the CANopen device should not change Holger Zeltwanger (CiA): Good to know: Optional is
    the mapping entries and abort the SDO write service.
    The device should do this, for example, if the PDO

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