Display the list of objects that can be mapped to PDO.
Index
Display index and sub index of the object. The sub index appears
after the dot. For example, for "0x1003.2", "0x1003" is index and
"2" is sub index.
Parameter
Display parameter name of the object.
Data Type
Display data type of the object. The following data types are
included.
-
Boolean (Single bit value)
-
Integer8 (8 bit signed integer)
-
Integer16 (16 bit signed
integer)
-
Integer24 (24 bit signed
integer)
-
Integer32 (32 bit signed
integer)
-
Integer40 (40 bit signed
integer)
-
Integer48 (48 bit signed
integer)
-
Integer56 (56 bit signed
integer)
-
Integer64 (64 bit signed
integer)
-
Unsigned8 (8 bit unsigned
integer)
-
Unsigned16 (16 bit unsigned
integer)
-
Unsigned24 (24 bit unsigned
integer)
-
Unsigned32 (32 bit unsigned
integer)
-
Unsigned40 (40 bit unsigned
integer)
-
Unsigned48 (48 bit unsigned
integer)
-
Unsigned56 (56 bit unsigned
integer)
-
Unsigned64 (64 bit unsigned
integer)
-
Float
(32 bit single-precision floating point)
-
Float64 (64 bit single-precision
floating point)
-
Visible
String (Text string including ASCII text)
-
Octet
string (Array of 8 bit unsigned integer)
-
Unicode
string (Array of 16 bit unsigned integer)
-
Bit
string (Array of single bit)
-
Time of
day (48 bit value indicating time and date)
-
Time
difference (48 bit value indicating time)
-
Domain (Application specific data
block)
-
Reserved (Reserved type)
Access
Map the object selected in [Available objects from device
profile] to [Configured objects] tree.
Remove the object mapped to [Configured objects] tree.
Mapped objects per slave displays in tree configuration. Map the
object.
PDO sent from slave to master. When data is input from the
external I/O that's connected to the selected slave, map the object
here.
PDO sent from master to slave. When data is output from the
external I/O that's connected to the selected slave, map the object
here.
Configure detailed settings of the item selected in [Configured
objects].
Setting contents vary from when: the slave is selected on the
tree, TPDO or RPDO is selected, or the mapped object is
selected.
Identify
Defines whether or not to run the device type reference. Select
this option to check if the structure matches the set up value in
object 1000h. If 1000h is zero, reference does not take place.
Vendor ID
Displays the slave vendor ID.
Product Code
Displays the product code of the slave.
Revision Number
Displays the revision number of the device (slave) stated in the
EDS file.
Restore
Return the parameters to the initial value when restarting the
network. You can set so as to restore the parameters for each
slave.
Parameters are not restored.
All parameters are restored.
Restores the parameters in [Commutation Area]
(1000h to 1FFFh) of [Slave Configuration/Extended].
Restores parameters in in [Manufacturer Area]
and [Profile Area] (6000h to 9FFFh) of [Slave
Configuration/Extended].
-
Selected items that are not supported by the
slave are not displayed. The EDS file of each slave defines whether
the slave supports the selected item.
-
If HTB is used, the application data is not
recovered even if [Application Only] is selected.
-
Manufacturer-defined selected items (object
0x1011 sub index 4 or later) are displayed as "extension 4" or
"extension 5".
When TPDO/RPDO Is Selected
Set PDO enabled/disabled and set [Transmission Type], [Inhibit
Time] and [Event Timer].
-
If the PDO is disabled, when you re-open the
project, all the information set in the PDO is initialized to its
initial values.
Since this initialization setting depends on the default setup on
the slave, objects may be being mapped.
Enabled
Select the check box to enable PDO.
Transmission Type
Display the transmission type for PDO in [Change Settings].
Inhibit Time
Display time when continuously transmitting PDO is inhibited
only for TPDO.
Set in [Change Settings]. The time can be configured in 100 ms
increments.
Event Timer
Displays transmission interval in which PDO is continuously
sent. Set in [Change Settings]. The unit is in milliseconds.
Number of objects
Changes the object count for semi-static objects mapped to
PDO.
Settings
Click to display the following screen. Different screens are
displayed for RPDO and TPDO.
When RPDO is selected
PDO is received when an event occurs as in
the case in which 255/254 is set, but its timing is after the next
SYNC signal flows into the network. In addition, if no event
occurs, PDO is not received even when the SYNC signal has flown to
the network.
In synchronization with the SYNC signal
flowing into the network, PDO is received based on the value set to
the SYNC cyclic number.
For example, when 1 is set, PDO is received for every SYNC object.
When 3 is set, PDO is received each time three SYNC signals flow
into the network.
The following figure shows the case in which 3 is set.
PDO is received immediately when an event
occurred regardless of the SYNC signal. For 254, this is defined by
the manufacturer. For 255, this is defined in the device
profile.
The information of PDO that has been set is as follows.
|
Object number
|
Sub index
|
ItemName
|
|
0x1400 + PDO number
|
0
|
Number of RPDO
|
|
1
|
COB ID
|
|
2
|
Transmission Type
|
|
3
|
Inhibit Time
|
|
5
|
Event Timer
|
When TPDO is selected
PDO is sent when an event occurs as in the
case in which 255/254 is set, but its timing is after the next SYNC
signal flows into the network. In addition, if no event occurs, PDO
is not sent even when the SYNC signal has flown to the network.
In synchronization with the SYNC signal
flowing into the network, PDO is sent based on the value set to the
SYNC cyclic number.
For example, when 1 is set, PDO is sent for every SYNC object. When
3 is set, PDO is sent each time that three SYNC signals flow into
the network.
The following figure shows the case in which 3 is set.
PDO is sent immediately when an event
occurred regardless of the SYNC signal. For 254, this is defined by
the manufacturer. For 255, this is defined in the device
profile.
When the object is selected
The information of PDO that has been set is as follows.
|
Object number
|
Sub index
|
ItemName
|
|
0x1800 + PDO number
|
0
|
Number of TPDO
|
|
1
|
COB ID
|
|
2
|
Transmission Type
|
|
3
|
Inhibit Time
|
|
5
|
Event Timer
|
Configure how to work with the mapped object. Display on I/O
Screen varies depending on the type set here.
31.7.3 Mapping I/O -
CANopen
Select from "Bit", "Byte", "Word" and "Dword" (Double Word).
Data type of the selected object
displays.
