Changing The Pdo Mapping; Saving Settings - Balluff BMD 1E NH5-Serie Konfigurationsanleitung

BMD 1E _ _ - _ _ _ _ / _ _ _ -NH5...
Microwave Positioning Sensor
4
Configuration over the CANopen interface (continued)
4.5

Changing the PDO mapping

To change the PDO mapping, you must first turn off the
PDO and delete the existing mapping. Only then can the
mapping-capable objects be mapped to the PDO. The
mapping-capable objects can be found in section 3.2. The
following messaging procedure shows an example for the
correct procedure:
ID
0x600 + node ID
0x580 + node ID
0x600 + node ID
0x580 + node ID
0x600 + node ID
0x580 + node ID
0x600 + node ID
0x580 + node ID
0x600 + node ID
0x580 + node ID
0x600 + node ID
0x580 + node ID
0x600 + node ID
0x580 + node ID
Fig. 4-1: Changing the PDO mapping
4.6

Saving settings

When changing the parameters using an SDO transfer the
changes are at first volatile. To save the changes an
additional SDO transfer must first be performed. This
requires that the signature save must be written to the
object 0x1010:1.
ID
0x600 + node ID
0x580 + node ID
Tab. 4-11: Save all parameters
14 english
Change PDO mapping
Data
23 00 18 01 8B 01 00 C0
60 00 18 01 00 00 00 00
2F 00 1A 00 00 00 00 00
60 00 1A 00 00 00 00 00
23 00 1A 01 20 00 04 60
60 00 1A 01 00 00 00 00
23 00 1A 02 08 01 01 29
60 00 1A 02 00 00 00 00
23 00 1A 03 10 00 05 65
60 00 1A 03 00 00 00 00
2F 00 1A 00 03 00 00 00
2F 00 1A 00 00 00 00 00
23 00 18 01 8B 01 00 40
60 00 18 01 00 00 00 00
0x1010:1 Save all parameters
Data
23 10 10 01 73 61 76 65
60 10 10 01 00 00 00 00
Comment
Turn off PDO1
Confirm turn-off
Delete current PDO mapping (complete)
Confirm the command
Set the first mapping parameter (0x6004)
Confirm the first mapping
Create the second mapping parameter (0x2901:1)
Confirm the second mapping
Set the third mapping parameter (0x6505)
Confirm the third mapping
Quitting the mapping procedure (3 map entries)
Confirming the mapping command
Turning on the PDO1
Confirming the turn-on action
Comment
Download 0x1010:1 (0x73617665)
Confirmation of write command