Temposonics
®
E-Series CANopen
Operation Manual
32
5.6.9 PDO mapping
Index Subindex Description Type Attribute Default Value Description
Process Data Object (PDO1)
1800
0 Transmit 1st PDO Unsigned 8 ro 5 Number of largest subindex
1 COB ID used by PDO1 Unsigned 32 rw 0x40000180 + Node ID PDO enabled
2 Transmission type Unsigned 8 rw 0xFE 254 (async)
3 Inhibit time Unsigned 16 rw 0x0000
5 Event timer Unsigned 16 rw 1 msec
1A00
0 1st transmit PDO mapping Unsigned 8 rw 3 Number of largest subindex
1 1st application object Unsigned 32 rw 0x60200120 Position
2 2nd application object Unsigned 32 rw 0x60300110 Velocity
3 3rd application object Unsigned 32 rw 0x64000108 Work area state reg.
Process Data Object (PDO2)
1801
0 Transmit 2nd PDO Unsigned 8 ro 5 Number of largest subindex
1 COB ID used by PDO2 Unsigned 32 rw 0xC0000280 + Node ID PDO disabled
2 Transmission type Unsigned 8 rw 0xFE 254 (async)
3 Inhibit time Unsigned 16 rw 0x0000
5 Event timer Unsigned 16 rw 1 msec
1A01
0 2nd transmit PDO mapping Unsigned 8 rw 3 Number of largest subindex
1 1st application object Unsigned 32 rw 0x60200220 Position
2 2nd application object Unsigned 32 rw 0x60300210 Velocity
3 3rd application object Unsigned 32 rw 0x64000208 Work area state reg.
Process Data Object (PDO3)
1802
0 Transmit 3rd PDO Unsigned 8 ro 5 Number of largest subindex
1 COB ID used by PDO3 Unsigned 32 rw 0xC0000380 + Node ID PDO disabled
2 Transmission type Unsigned 8 rw 0xFE 254 (async)
3 Inhibit time Unsigned 16 rw 0x0000
5 Event timer Unsigned 16 rw 1 msec
1A02
0 3rd transmit PDO mapping Unsigned 8 rw 0 Number of largest subindex
1 1st application object Unsigned 32 rw 0x60200320 Position
2 2nd application object Unsigned 32 rw 0x60300310 Velocity
3 3rd application object Unsigned 32 rw 0x64000308 Work area state reg.
Process Data Object (PDO4)
1803
0 Transmit 4th PDO Unsigned 8 ro 5 Number of largest subindex
1 COB ID used by PDO4 Unsigned 32 rw 0xC0000480 + Node ID PDO disabled
2 Transmission type Unsigned 8 rw 0xFE 254 (async)
3 Inhibit time Unsigned 16 rw 0x0000
5 Event timer Unsigned 16 rw 1 msec
1A03
0 4th transmit PDO mapping Unsigned 8 rw 0 Number of largest subindex
1 1st application object Unsigned 32 rw 0x60200420 Position
2 2nd application object Unsigned 32 rw 0x60300410 Velocity
3 3rd application object Unsigned 32 rw 0x64000408 Work area state reg.
Table 16: PDO configuration
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