CANopen Slave

Configuration Parameters 48/112
4.4 Handling of Process Data
4.4.1 General
The CANopen slave implementation provides 4 objects for send data and 4 objects of receive data;
each object has up to 128 bytes of process data and is transferred via PDO according to the active
network configuration. For accessing these objects, the CANopen slave-Task provides 4 triple buffers
for both directions. Each triple buffer contains the process data for one object.
The data of these buffers are exchanged between the AP-Task and the CANopen slave-Task via triple
buffer exchange. The AP-Task transfers data from the receive triple buffers to the DPM input image
and from the DPM output image to the send triple buffers.
These objects can also be accessed by the user application via the packet interface as described in
section CANOPEN_SLAVE_REGISTER_REQ/CNF – Register Applicationof this document.
4.4.2 Mapping of Input and Output Image to Send and Receive Objects
The data of the send and receive objects are mapped linear to the input and output image of the DPM
as shown in the following table:
DPM input image byte offset Receive object index Receive object sub-index
0 2200h 01h
1 2200h 02h
.. .. ..
127 2200h 80h
128 2201h 01h
.. .. ..
510 2203h 7Fh
511 2203h 80h
Table 20: Mapping of Input Data
DPM output image byte offset Send object index Send object sub-index
0 2000h 01h
1 2000h 02h
.. .. ..
127 2000h 80h
128 2001h 01h
.. .. ..
510 2003h 7Fh
511 2003h 80h
Table 21: Mapping of Output Data
CANopen Slave |
DOC070901API06EN | Revision 6 | English | 2010-06 | Released | Public © Hilscher, 2006-2010