5.3.2.2 Objects 1A00-1A03h: 1st - 4th TxPDO mapping parameter (DS301)
Index 1A00h, 1A01h, 1A02h, 1A03h for TxPDO 1 to 4.
Name transmit PDO mapping
Object Code RECORD
Data Type PDO Mapping
Category mandatory
Subindex 0
Name number of mapped application objects in PDO
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
5.3.2.3 Default TXPDO definition
TXPDO 1:
Subindex Value Meaning
0 1 One PDO-mapping entry
1 60 41 00 10 Statusword
TXPDO 2:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 41 00 10 Statusword
2 60 61 00 08 Modes of Operation display
TXPDO 3:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 41 00 10 Statusword
2 60 64 00 20 Position actual value
TXPDO 4:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 41 00 10 Statusword
2 60 6C 00 20 Velocity actual value
S300-S700 CANopen | 5 îîCANopen Drive Profile
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