0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C12:1 SubIndex 001
0x1C12:2 SubIndex 002
0x1C12:3 SubIndex 003
0x1C12:4 SubIndex 004
0x1C13 SM 3 Assignment
0x1C13:1 SubIndex 001
0x1C13:2 SubIndex 002
0x1C13:3 SubIndex 003
0x1C13:4 SubIndex 004
Standard RxPDO mapped Objects
Index PDO Index Name
0x1600 Receive PDO1 mapping
0x1600:1 0x6040 Controlword
0x1600:2 0x6060 Modes of operation
0x1600:3 0x6071 Target Torque
0x1600:4 0x607A Target position
0x1600:5 0x60FF Target velocity
0x1600:6 0x60B2 Torque offset
0x1600:7 0x2701 Tuning command
0x1601 Receive PDO2 mapping
0x1601:1 0x60FE Physical outputs
0x1601:2 0x60FE Bit mask
0x1602 Receive PDO3 mapping
0x1602:1 0x2703 User MOSI
0x1602:2 0x60B1 Velocity offset
0x1603 Receive PDO4 mapping
Standard TxPDO mapped Objects
Index PDO Index Name
0x1A00 Transmit PDO1 mapping
0x1A00:1 0x6041 Statusword
0x1A00:2 0x6061 Modes of operation display
0x1A00:3 0x6064 Position actual value
0x1A00:4 0x606C Velocity actual value
0x1A00:5 0x6077 Torque actual value
0x1A01 Transmit PDO2 mapping
0x1A01:1 0x230A Secondary position value
0x1A01:2 0x230B Secondary velocity value
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