Object 0x1A03: 4th Transmit PDO Mapping
Index 0x1A03
Name 4th Transmit PDO Mapping
Object Code RECORD
Number of Elements 0..4
Value Description
Sub Index 0
Description number of mapped objects
Data Type Unsigned8
Access rw
PDO Mapping No
Default Value 0
Sub Index 1
Description 1st mapped object
Data Type Unsigned32
Access rw
PDO Mapping No
Default Value 0
Manufacturer PDO Transmission Mode
The Xtrapuls drive has a special transmission mode for the TPDOn defined by a TPDOn_Control (object 0x23A1-
n) and a TPDO_Count (object 0x23A0). The purpose of this mode is to control the number of cyclic TPDOn for
each axis.
TPDOn_Control is preset for each axis. TPDO_Count is counter value of the host. For each axis, when
TPDO_Count is equal to TPDOn_Control, it will transmit the TPDOn in synchronisation with the SYNC message.
The transmission type for the TPDOn must be 254.
Example
: RPDO1 is used to transmit TPDO_Count value.
To be sure that all axes have got the same value of TPDO_Count at the same synchronisation, the RPDO1 COB-
ID must be re-defined to be the same for all axes and mapped with TPDO_Count object.
Index 0x23A0
Name TPDO_Count
Object Code VAR
Data Type Unsigned8
Object Class all
Access rw
PDO Mapping No
Value Range 0..255
Default Value 0
SYNC.
Axis Axis 2 SYNC Axis 3 SYNC Axis 4 Axis 1 Axis 2
RPDO1 RPDO1
RPDO1
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