3. Object Dictionary
3. Object Dictionary .............................................................................................................................................. 3-1
3.1 Communication profile area ............................................................................................................ 3-2
3.1.1 Default PDO mapping ............................................................................................................ 3-7
3.1.2 Mapping objects to PDO ........................................................................................................ 3-9
3.1.3 PDO data exchange timing ................................................................................................... 3-11
3.2 Standardized device profile area .................................................................................................. 3-12
3.2.1 PDS (Power Drive System) .................................................................................................. 3-19
3.2.2 Profile position mode (pp) .................................................................................................... 3-22
3.2.3 Cyclic synchronous position mode (csp) ............................................................................. 3-29
3.2.4 Homing mode (hm) .............................................................................................................. 3-31
3.2.5 Profile velocity mode (pv) ..................................................................................................... 3-36
3.2.6 Cyclic synchronous velocity mode (csv) .............................................................................. 3-37
3.2.7 Profile torque mode (tq) ....................................................................................................... 3-39
3.2.8 Cyclic synchronous torque mode (cst) ................................................................................. 3-41
3.2.9 Touch probe function ............................................................................................................ 3-42
3.3 Manufacturer specific profile area ................................................................................................ 3-45
3.3.1 Absolute encoder initialization ............................................................................................. 3-45
3.4 Object dictionary list ...................................................................................................................... 3-46
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