Altivar Process ATV900 - Transmit PDO1, PDO2, and PDO3 Mapping

Appendix A - Object Dictionary
86
NHA80945 04/2017
Transmit PDO1, PDO2, and PDO3 Mapping
Communication Object
The table provides the communication objects used for the PDOs mapping of the drive:
Index Subindex Access Type Default value Description
1A00 hex 00 hex Read/write Unsigned8 02 hex Transmit PDO1 mapping - Number of
mapped objects.
01 hex Read/write Unsigned32 60410010 hex Transmit PDO1 mapping - first
mapped object:
Status word ETA (6041 hex)
02 hex Read/write Unsigned32 60440010 hex Transmit PDO1 mapping - second
mapped object: Control effort rFRD
(6044 hex)
03 hex Read/write Unsigned32 00000000 hex Transmit PDO1 mapping: No third
mapped object
04 hex Read/write Unsigned32 00000000 hex Transmit PDO1 mapping: No fourth
mapped object
1A01 hex 00 hex Read/write Unsigned8 00 hex Transmit PDO2 mapping - Number of
mapped objects
01 hex Read/write Unsigned32 00000000 hex Not mapped
02 hex Read/write Unsigned32 00000000 hex Not mapped
03 hex Read/write Unsigned32 00000000 hex Not mapped
04 hex Read/write Unsigned32 00000000 hex Not mapped
1A02 hex 00 hex Read only Unsigned8 04 hex Transmit PDO3 mapping - Number of
mapped objects.
01 hex Read only Unsigned32 20612A10 hex Transmit PDO3 mapping - first
mapped object: NM1 - Comm.
Scanner first data
02 hex Read only Unsigned32 20612B10 hex Transmit PDO3 mapping - second
mapped object: NM2 - Comm.
Scanner second data
03 hex Read only Unsigned32 20612C10 hex Transmit PDO3 mapping - third
mapped object: NM3 - Comm.
Scanner third data
04 hex Read only Unsigned32 20612D10 hex Transmit PDO3 mapping - 4th
mappedobject: NM4 - Comm. Scanner
4th data