4.3.1.2 Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301)
Index 1600
h
- 1603
h
for RXPDO 1 .. 4
Name
receive PDO mapping
Object Code
RECORD
Data Type
PDO Mapping
Category
mandatory
Subindex 0
Name
number of entries
Data type
UNSIGNED8
Category
mandatory
Access
rw
PDO Mapping
not possible
Value Range
0: PDO is not active
1 - 8: PDO activated, mappings are taken only byte-wise
Default Value
PDO1: 1
PDO2: 2
PDO3: 2
PDO4: 2
Subindex 1 - 8
Name
PDO - mapping for the n-th application object
Category
Conditional, depends on number and size of object be mapped
Access
rw
PDO Mapping
not possible
Value Range
UNSIGNED32
Default Value
See below
4.3.1.3 Default RXPDO definition
RXPDO 1:
Subindex Value Meaning
0 1 One PDO-mapping entry
1 60 40 00 10 Controlword
RXPDO 2:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Controlword
2 60 60 00 08 Modes of Operation
RXPDO 3:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Controlword
2 60 7A 00 20 Target Position (Mode PP)
RXPDO 4:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Controlword
2 60 FF 00 20 Target Velocity (Mode PV)
52 CANopen for S300/S700
CANopen Drive Profile 11/2018 Kollmorgen
To Next Page
Loading...
