How to perform a PDO mapping when PDO objects are locked in the EDS file with Anybus Configuration Manager CANopen

When configuring an Anybus X-gateways CANopen Master using the software Anybus Configuration Manager CANopen, it may happen that it is not possible to do the PDO Mapping.  This article explains the reason and describes a workaround solution.

APPLICABLE PRODUCTS

Anybus X-gateways CANopen Master with the following p/n

AB7300-B
AB7301-B
AB7302-B
AB7303-B
AB7304-B
AB7305-B
AB7306-B
AB7307-B
AB7308-B
AB7309-B
AB7329-B

1SI CANopen for ET200, p/n 020570-B

PRE-REQUISITES

Anybus Configuration Manager CANopen software
EDS file of a CANopen slave

 

PROBLEM

When trying to map objects in the Anybus Configuration Manager CANopen software, it may happen that you are facing the situation below.  The mapping entries are marked in red.  When changing between tabs, the already present mapping will even be deleted.

 

REASON

In some CANopen EDS files, the PDO mapping objects with indices 0x16xx / 0x1Axx are marked with access type “const”.  It means the PDO mapping cannot be altered by the user during the CANopen configuration.

Here is a typical example of such an EDS file:

[1A00sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x0005
AccessType=const                                        ; <-----------------
DefaultValue=3
PDOMapping=0

[1A00sub1]
ParameterName=PDO Mapping Position_value
ObjectType=0x7
DataType=0x0007
AccessType=const                                        ; <-----------------
DefaultValue=0x60040020
PDOMapping=0

[1A00sub2]
ParameterName=PDO Mapping Dummy
ObjectType=0x7
DataType=0x0007
AccessType=const                                        ; <-----------------
DefaultValue=0x5F1D0010
PDOMapping=0

[1A00sub3]
ParameterName=PDO Mapping System Statusword
ObjectType=0x7
DataType=0x0007
AccessType=const                                        ; <-----------------
DefaultValue=0x5F190010
PDOMapping=0

SOLUTION

In order to complete the mapping anyway, you’ll simply need to get going, while ignoring the red warning markings.

Once all elements of a locked PDO are part of the mapping, the warning disappears, and the mapping becomes part of the CANopen configuration.