PEAK-System Forum

We are using PCAN-MicroMod together with MicroMod Evaluation Board. The module was flashed with CANopen (Eval-Mix 3) firmware (Manifacuter name, dictionary entry 0x1008/00, is "PCO0' and Software version, dictionary entry 0x100A/00, is "R208").

The problem I have, is that I get SDO-abort message with code 0x06010000 (Unsupported access to an object) whenever I try to change number of PDO-mapped parameters, regardless for which PDO, for example, dictionary entry 0x1A01/00 for transmit PDO 2. However, I can read the content of the entry and also default mapping works when I switch the board to operational mode.
I am trying to change the number of mapped parameters while the board is preoperational state.

According to "PCAN-MicorMod CANopen User Manual v1.1.1" I should be able to change this parameters and also in the EDS file are they indicated as read-write parameters.

What am I doing wrong?

In CANopen, changing the PDO mapping parameters requires a specific sequence to be executed, otherwise aborts like the one described will occur. These sequences are not allways well documented in the standard. However, the CANopen Conformance Test requires these. If the aborts do not occur, a device fails the test.

The correct sequence of write accesses is:

Disable the PDO (set highest bit in COBID)
Write zero to the number of mapping entries
Now make your new mapping entries, but one by one (subindex 1, 2, 3 - in order)
When done, write the new non zero value to the number of mapping entries
Finally, enable the PDO again