Hi all,
I'm new to CANOPEN and would like to ask some questions regarding PDO mapping and ASCII channel.
I have a Servostar S600 amplifier and a PCI-NICAN series 2 card.
I have the information as followed :
- ASCII channel is default-PDO
- Up to 8 characters can be sent in 1 PDO (must be terminated by CR LF)
- More than 8 characters must be segmented.
- RPDO2 COB-ID is 301H
- This required NMT status machine in the operational status.
- SubIndex 00H, Value 1H (number of entries)
- SubIndex 01...08H, Value 31000208H (ASCII chars 1 to 😎
- Example diagram like(send ascii GVFBT)
COBID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
MASTER -> S600 301H 47H 56H 46H 42H 54H 0DH 0AH 0H
[G] [V] [F] [B] [T] [CR] [LF] NULL
My questions are :
- Do I have to do pdo mapping since it is already default as RPDO2? (Mapping means select empty PDO, delete data, insert data, then configure it to SYNC)
- How do I "call out pdo"? Is it like "calling SDO"? where I should have the COBID, control byte, index, sub index and data?
- I don't understand what is the meaning of
- SubIndex 00H, Value 1H (number of entries)
- SubIndex 01...08H, Value 31000208H (ASCII chars 1 to 😎
- How do I implement more than 8 chars, simply define the data length to be more than 8?
Appreciate if one can advice me in any manner. Thanks!
Regards,
Steve
