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This is now one of the references described above, in this case to the already created “RxPDO Map” object (0x1614). This is followed by the content of the first subindex 01 with 14 16 → 0x1614. The first two blocks define the number of subindices of the object (Hi/Lo byte switched: 01 00 → number of subindices = 1). The content of the CoE object is specified in “Data (hexbin)”.
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Under “Comment” an explanatory comment can be added, which then appears in the CoE overview as the name of the object. The assignments should be made during the transition from PREOP to SAFEOP only the tick “P → S” remains set (or is to be set) during the transition. The tick at “Complete Acess” is set, so that the entered values are not interpreted as data type WORD, DWORD etc. The CoE Startup entry to be created therefore is the index 0x1C12 with the subindex 0 (subindex for the start of the object). In the second step the following entries are made via the dialog “Edit CANopen Startup Entry”: Creating object 0x1C12 for RxPDO In order to be able to link a structure variable with a PDO of the EL6695, it first has to be converted to a global data types under TC3: Conversion to a global data type This can represent the data structure of a program object or structure, for example. To this end a 0x1614 object (selectable from the range 0x1600 to 0x161F) is created in this example as follows (tick “Complete Access” enter “IO RxPDO Map” as a comment, for example): Setting up the 0x1614 object Creating new output variables (in this example: primary side of the EL6695)Īs an example, a total of four output variables with sizes 8, 16, 32 and again 8 are created : Select “New…” on the bottom right of this tab.
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New entries have to be created in the Startup tab of the terminal. The process image is then redefined in two steps, as described below: The existing entries in the Startup tab are then also deleted, and the terminal no longer has a process image. To create a selective mapping, the existing PDO configuration with its assignments should initially be disabled by unticking all options under outputs, inputs and downloads in the “Process Data” tab of the terminal. The objects 0x7000 and 0圆000 are mirrored on the respective other side of the terminal.įor example, if an object 0x7000:0E PD Outputs exists on the primary side, an object 0圆000:0E PD Inputs should be created on the secondary side for data exchange. RxPDO Assign: 0x1C12 → RxPDO Map 0x1608 → 0x7000 PD Outputs.Overview of the (initial) linked objects: Basic mapping of a 1 byte variable via 0x1C12 to 0x7000 “PD Outputs” The two “final” CoE objects 0圆000 and 0x7000 are “RO” (read only), since within the device the copy processes for input and output data are carried out in OP state. This is where all the links for object references are created in the transition from PREOP to SAFEOP (P → S). “Initial” refers to automatic configuration by TwinCAT, when the user adds new input or output data on the primary or secondary side. The two mapping objects 0x1608 and 0x1A08 initially refer to the CoE objects 0x7000 “PD Outputs” and 0圆000 “PD Inputs” (process data inputs/ outputs), in which process data (structures) are stored. All four of these CoE objects, 0x1C12/0x1C13 and 0x1608/0x1A08, have an RW flag (RW = read/write). They contain a reference to CoE objects 0x1608 “IO RxPDO Map” and 0x1A08 “IO TxPDO Map”, in which the mapping the inputs and outputs is defined. For this purpose, it is important to know the structure of a PDO assignment or mapping.īasically (standard) there are two CoE objects 0x1C12 “Rx PDO Assign” and 0x1C13 “Tx PDO Assign”, in which the assignments for the data input (RxPDO) and the data output (TxPDO) for the secondary side and the primary side are defined. The default PDO assignment and mapping is removed, and the user has to create a custom PDO assignment and mapping. This process is referred to as selective PDO mapping. On the other side a subset of this set can now be defined for cyclic reading. To this end a “full” set of process data is created on one side of the terminal. Users can configure customized cyclic data exchange through selective PDO mapping.