CL4E支持PDI和標(biāo)準(zhǔn)映射兩種控制方案，本例程介紹如何關(guān)閉PDI，使用標(biāo)準(zhǔn)映射方案的配置說明，和國產(chǎn)的驅(qū)動器不同，本驅(qū)動器支持用戶自定義配置和修改PDO對象，方便用戶按需使用

需要用到的硬件工具和軟件如下：

一、CL4E控制器

二、USB數(shù)據(jù)線/CANOPEN轉(zhuǎn)換器/485線纜，三選一即可，確保能正常連接PNDS軟件

三、最新版本的PNDS軟件

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如何修改和配置映射對象

CL4E 暫不支持直接讀取CFG文件作為MODBUS_PDO映射的配置文件，因此修改和配置
PDO對象需要在對象數(shù)據(jù)字典里進(jìn)行，詳細(xì)步驟如下

一、正確連接PNDS軟件，讀取刷新Object dictionary數(shù)據(jù)列表

二、2290設(shè)置為0，保存（1010:01=1702257011） //關(guān)閉PDI功能并保存

三、斷電重啟，重新連接軟件并切換到Object dictionary頁面

四、3502:00設(shè)置0；3502下面的所有子索引全部清零（0x00000000）；保存
（1010:01=1702257011）//TxPDO 默認(rèn)配置清除

五、3602:00設(shè)置0；3602下面的所有子索引全部清零（0x00000000）；保存
（1010:01=1702257011）//RxPDO 默認(rèn)配置清除

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六、根據(jù)實(shí)際使用需要配置Tx PDO和Rx PDO，本案以廣州某客戶的應(yīng)用為例配置如下：

在Object dictionary頁面配置Tx PDO

3602:01=0x20390220?? //5000(高16位)+5001??? 實(shí)時電流(2039:02)??????
3602:02=0x606C0020? //5002(高16位)+5003??? 實(shí)時轉(zhuǎn)速 (6064)
3602:03=0x25000120?? //5004(高16位)+5005??? 報警信息(內(nèi)部程序自定義2500:01)
3602:00=3???????????????? //先配置子索引，索引個數(shù)配置最后完成

在Object dictionary頁面配置Rx PDO
//以下2400寄存器由內(nèi)部用戶邏輯程序定義，用戶可以根據(jù)需求自定義邏輯程序并下載至
控制器中
3502:01=0x24000110 //6000???????????????? 啟動
?(0x00:無動作? 0x01: 速度模式啟動(通過速度的正負(fù)控制方向) 0x04: 減速度停止)

3502:02=0x24000220?? // 6001(高16位)+6002??? 目標(biāo)速度(2400:02)
3502:03=0x24000320?? //6003(高16位)+6004??? 加速度(2400:03)
3502:04=0x24000420?? //6005(高16位)+6006??? 減速度
3502:00=4???????????????? // //先配置子索引，索引個數(shù)配置最后完成

保存（1010:01=1702257011）

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七、斷電重啟，并重新連接，刷新Object dictionary，檢查上頁配置是否生效，如果錯誤
需要重新配置

八、根據(jù)用戶實(shí)際要求，決定是否需要刷入NANOJ程序（用戶邏輯程序），
本案需要刷入NANOJ程序

CL4E supports two control schemes, PDI and standard mapping. This routine introduces how to close PDI and use the standard mapping scheme configuration instructions. Unlike domestic drivers, this driver supports user-defined configuration and modification of PDO objects, which is convenient for users to use as needed

The hardware tools and software required are as follows:
First, CL4E controller
2. USB data cable / CANOPEN converter / 485 cable, you can choose one of the three to ensure normal connection of PNDS software
Third, the latest version of the PNDS software

How to modify and configure mapping objects
CL4E does not support reading CFG files directly as MODBUS_PDO mapping configuration files, so modify and configure
The PDO object needs to be performed in the object data dictionary. The detailed steps are as follows
First, correctly connect the PNDS software, read and refresh the object dictionary data list
2. Set 2290 to 0 and save (1010: 01 = 1702257011) // Close the PDI function and save
Third, power off and restart, reconnect the software and switch to the Object dictionary page
4. Set 0 at 3502: 00; clear all sub-indexes below 3502 (0x00000000); save
(1010: 01 = 1702257011) // TxPDO default configuration cleared
V. Set 0 at 3602: 00; clear all sub-indexes below 3602 (0x00000000); save
(1010: 01 = 1702257011) // RxPDO default configuration cleared
6. Configure Tx PDO and Rx PDO according to the actual use requirements. In this case, an application from a customer in Guangzhou is used as an example.

Configure Tx PDO on the Object dictionary page

3602: 01 = 0x20390220 // 5000 (high 16 bits) +5001 real-time current (2039: 02)
3602: 02 = 0x606C0020 // 5002 (high 16 bits) +5003 real-time speed (6064)
3602: 03 = 0x25000120 // 5004 (high 16 bits) +5005 alarm information (internal program custom 2500: 01)
3602: 00 = 3 // Configure the sub-index first, and the number of indexes is finally configured.

Configure Rx PDO on the Object dictionary page
// The following 2400 registers are defined by the internal user logic program, users can customize the logic program according to their needs and download it to
In the controller
3502: 01 = 0x24000110 // 6000 start
?(0x00: no action 0x01: speed mode start (by positive and negative speed control direction) 0x04: deceleration stop)

3502: 02 = 0x24000220 // 6001 (high 16 bits) + 6002 target speed (2400: 02)
3502: 03 = 0x24000320 // 6003 (high 16 bits) +6004 acceleration (2400: 03)
3502: 04 = 0x24000420 // 6005 (high 16 bits) +6006 deceleration
3502: 00 = 4 // // Configure the sub-index first, and the number of indexes is finally configured.

Save (1010: 01 = 1702257011)

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