EPOS2 Application Notes Collection - Maxon Motor

CANopen Basic Information
PDO Communication
10.5.3.3 Step 3: Number of Mapped Application Objects
Disable the PDO by writing zero to object “Number of Mapped Application Objects in…”.
Example: Object “Number of Mapped Application Objects in RxPDO 1” (Index 0x1600,
Subindex 0x00)
Value = 0x00
10.5.3.4 Step 4: Mapping Objects
Set value from an object.
Example: Object1 “1 st Mapped Object in RxPDO 1” (Index 0x1600, Subindex 0x01)
Object2 “2 nd Mapped Object in RxPDO 1” (Index 0x1600, Subindex 0x02)
Object3 “3 rd Mapped Object in RxPDO 1” (Index 0x1600, Subindex 0x03)
RxPDO 1 # Mapped Object
1 Object_1 = 0x60400010 Controlword (16-bit)
2 Object_2 = 0x607A0020 Target Position (32-bit)
3 Object_3 = 0x60FB0210 Position Regulator I-Gain (16-bit)
Note
For details on all mappable objects FwSpec, chapters “Receive PDO… Parameter” and “Transmit
PDO… Parameter”.
10.5.3.5 Step 5: Number of mapped Application Objects
Enable PDO by writing the value of the number of objects in object “Number of Mapped Application
Objects in…”.
Example: Object “Number of Mapped Application Objects in RxPDO 1” (Index 0x1600,
Subindex 0x00)
10.5.3.6 Step 6: Activate Changes
Changes will directly be activated.
Execute menu item ¤Save All Parameters¤ in the context menu of the used node («EPOS Studio» \
Navigation Window \ Workspace or Communication) or in the context menu in the view “Object
Dictionary”.
maxon motor control
EPOS2 Positioning Controllers Document ID: rel3956 10-155
EPOS2 Application Notes Collection Edition: April 2013
© 2013 maxon motor. Subject to change without prior notice.