The CANopen drive controller can use 8 channels of PDO by default. Each channel supports a maximum of 64 bytes of data. The default factory configuration is 4 channels of data by default. The other 4 channels are empty. Re-integrate the PDO channel data. Now the modification configuration scheme is briefly introduced as follows:
Using standard mapping scheme

The hardware tools and software required are as follows:

1. Integrated motor or drive controller (for CANopen version)
2. CANOPEN-USB converter /, to ensure normal communication connection
3. The corresponding version of the PNDS software

How to modify and configure mapping objects (send PDO)

First, correctly connect the PNDS software, read and refresh the object dictionary data list

Second, 1400 is used to configure 1600 (TX); 1800 is used to configure 1A00 (RX) // Configure internal correspondence

Third, modify the configuration T-PDO, first set the highest bit of 1400: 01 to 1, that is, the highest bit in the object dictionary list is changed to 8

Fourth, the number of sub-index in 1600: 00 is set to 0

V. Configure the required PDO object. In this example, the first PDO channel is configured with 6040, 6081, 607a. The steps are as follows:
1600: 01 = 0x24000110 // 16-bit data
1600: 02 = 0x60810010
1600: 03 = 0x607a0020 // 32-bit data

6. The number of sub-indexes at 1600: 00 is set to the actual number. In this example, three

7. Modify the configuration T-PDO, first set the highest position of 1400: 01 to 0, that is, change the highest bit in the object dictionary list to 0.

Eight, save (1010: 01 = 1702257011,1010: 0A = 1702257011), power off and restart, reconnect the software and switch to the Object dictionary
Confirm whether the modification is successful

How to modify and configure mapping objects (receive PDO)

First, correctly connect the PNDS software, read and refresh the object dictionary data list

Second, 1800 is used to configure 1A00 (RX) // Configure internal correspondence

Third, modify the configuration R-PDO, first set the highest bit of 1800: 01 to 1, that is, the highest bit in the object dictionary list is changed to 8

Fourth, the number of sub-indexes in 1A00: 00 is set to 0

Fifth, configure the required PDO object. In this example, 606C (real speed) and 6064 (real position) are configured to the first PDO channel.
Proceed as follows:
1A00: 01 = 0x60640020 // 32-bit data
1A00: 02 = 0x606C0010 // 16-bit data
1A00: 03 = 0x60410010

6. The number of sub-indexes at 1A00: 00 is set to the actual number, which is 3 in this example.

7. Set the highest position of 1A00: 00 to 0, that is, modify the highest bit in the object dictionary list to 0.

Eight, save (1010: 01 = 1702257011,1010: 0A = 1702257011), power off and restart, reconnect the software and switch to the Object dictionary
Confirm whether the modification is successful

Seven, power off and restart, and reconnect, refresh the object dictionary, check whether the previous page configuration takes effect, if wrong
Need to reconfigure

8. Decide whether you need to flash into the NANOJ program (user logic program) according to the actual requirements of users
This case needs to be flashed into the NANOJ program

PDO mapping considerations and instructions

PDO needs to be activated at power-up to use
PDO is disabled by default. When power is required, PDO mode needs to be activated.
Activate PDO mode and send the following message

COB-ID	DATA
000	01 01
?	CMD????? Node? ID