JVL MAC050 - Page 225

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 221
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.52 Supported PDOs
Receive PDOs
Transmit PDOs
PDO
no.
Mapping
object
index
Mapping object
name
Comment
1 6040h Controlword Controls the state machine
2
6040h
6060h
Modes of operation Controls the state machine and modes of operation
3
6040h
607Ah
Controlword
Target position (pp)
Controls the state machine and the target position (pp)
4
6040h
60FFh
Controlword
Target velocity (pv)
Controls the state machine and the target velocity (pv)
7
6040h
60FEh
Controlword
Digital outputs
Controls the state machine and the digital outputs
PDO
no.
Mapping
object
index
Mapping object
name
Event
driven Comment
1 6041h Statusword Yes Shows status
2
6041h
6061h
Modes of operation Yes
Shows status and the current mode of
operation
3
6041h
6064h
Statusword
Position actual value
No Shows status and the current position (pp)
4
6041h
606Ch
Statusword
Velocity actual value
No Shows status and the current velocity (pv)
7
6041h
60FDh
Statusword
Digital inputs
Yes
Controls the state machine and the digital
inputs