I am trying to perform a CANopen PDO mapping by only mapping the first two bytes of an unsigned32 data onto the PDO. Is it possible to do so and how?
I got the error code 0604 0041 (which means PDO cannot be mapped) for doing the above mapping.
CANopen PDO mapping of data
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First, check that the parameter is mappable. If you have the EDS file, the parameter of interest has
PDOMapping=1.If the parameter is mappable, you should be able set one of the mapping variables for the PDO to an encoded UNSIGNED32 Idx{16-bit}, Sidx{8-bit}, nbits{8-bit}. For example, if you wanted to encode 2000,05 as the first parameter of the first TPDO, set
1A00,01to0x20000510.I forgot to ask:
If your system refused to map the PDO entry because the size did not match, I would expect the system to report error
0x06040042(number/length of objects exceed PDO size) when setting subindex 0 at the end of the mapping procedure.I believed it was possible to map smaller pieces of an object dictionary entry. I rechecked CiA-301, and it seems silent on the issue other than to say the length is mandatory.