6.1.2RxPDO mappings
Objects with indices from 0x1600 to 0x17FF specify receive PDO mappings. The mappings from
Table 6.6 RxPDO mappings
PDO number | Mapping object index | Mapping object name |
1 | 0x6040 | controlword |
2 | 0x6040 | controlword |
| 0x6060 | modes of operation |
6 | 0x6040 | controlword |
| 0x6042 | vl_target _velocity |
The RxPDO mappings objects are defined below. Each mapping object has the maximum number of
Table 6.7 RxPDO mapping 1
0x1600 | Receive PDO mapping 1 |
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Access: RW |
| Range: 0 to (CF) | Size: 1 byte | Unit: N/A |
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Default: | 1 |
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Description: | The number of mapped objects in thie PDO |
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Access: RW |
| Range: 0 to 0xFFFFFFFF | Size: 4 bytes | Unit: N/A |
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Default: | 0x60400010 | - the | (0x6040) |
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Description: | A mapping to an object with the following format: |
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Bits 0 to 7: Length of the mapped object in bits, e.g. a
Bits 8 to 15:
Bits 16 to 31: Index of the mapped object.
Information | Safety |
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Introduction | |
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Installation | Mechanical |
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Installation | Electrical |
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Getting Started | |
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Protocols | |
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support | Drive profile |
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features | Advanced |
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Diagnostics | |
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Reference | Quick |
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Terms | Glossary |
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Index | |
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21 | |
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