Siko AG06 - Page 93

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 93 of 114
9.13.2.30 1A03
h
: 4
th
Transmit PDO Mapping Parameter
Object 1A03
h
determines the objects that are mapped on the fourth Transmit PDO (TPDO4).
Sub-index
00
h
Description
Number of mapped application objects in TPDO 4
Access
read-only
PDO mapping
no
Data type
Unsigned8
Default
2
EEPROM
no
Sub-index
01
h
Description
first object mapped
Access
read-only
PDO mapping
no
Data type
Unsigned32
Default
60410010
h
EEPROM
no
Sub-index
02
h
Description
second object mapped
Access
read-only
PDO mapping
no
Data type
Unsigned32
Default
606C0020
h
EEPROM
no
Format description sub-index 01
h
– 02
h
:
Bit 31 - 16
index 16 bits
Bit 15 - 8
sub-index 8 bits
Bit 7 - 0
8 bits object length
Data description:
The object cannot be changed (static mapping).
Mapped objects:
 Object 6041
h
(status word) in bytes 0 and 1.
 Object 606C
h
(velocity actual value) in bytes 2 to 5.