Implemented CANopen Objects
Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4
Page 80 of 99
8
0
h
1
h
2
h
6220 0X 01
3
h
Objekt 1600
h
4
h
5
h
6
h
7
h
8
h
RPDO
1
3
2
4
5
6
7
8
6220 01 01
0001 00 01
0001 00 01
0001 00 01
0001 00 01
COB-ID
(200+Node-ID)
1
3
2
4
5
6
7
0
Rel4
6220 02 01
6220 03 01
6220 04 01
Rel3 Rel2 Rel1
Relay x
Data byte
Data byte 1
of RPDO
Module 1
Relay 1- 4
7.9.25.2 Switching the four Relays of a Module with Mapping of Bit-Objects
Via the objects 1600
h
to 1603
h
the four relays of the CAN-CBX-REL4 can be switched by mapping of
bit-objects with one PDO.
In the example below, the relays are switched with the bits 4 - 7 of the first data byte of the RPDO.
Sub-index 05
h
to 08
h
of object 1600
h
contain the object 6220
h
, and the sub-index, which contains the
number of the relay that shall be switched.
The sub-indices 01
h
to 04
h
of the object 1600
h
contain the value 0001 0001
h
as placeholder for the so
called dummy mapping, because the data byte must always be 1 byte long.
Fig. 20: PDO mapping of bit-objects
