E6581692
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1414
00 R u8 0x02 Receive PDO21: Number of objects
01 R/W u32
0x80000500
+ Node-ID
Receive PDO21 COB-ID entry
The default value is 0x80000500 (parameter data c741)
+Node-ID. If set other than 0x80000500 except bit31, new set
data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO21 data set.
02 R/W u8 0x0FF
Receive PDO21: Transmission type
“asynchronous” (254 or 255), “synchronous” (0 -240).
1600
00 R/W u8 0x02
Receive PDO1 assignment: Number of objects assigned
Set 0(=Disable) before changing Sub-index 01-04 of this
Object, and set Sub-index 01-04 values of the corresponding
sub-indices then set the number of mapped objects (=Enable).
01 R/W u32 0x60400010
Receive PDO1 assignment: 1
st
object assigned
Control word “CMD” (Object 6040, Sub-index 00, 16bit)
02 R/W u32 0x60420010
Receive PDO1 assignment: 2
nd
object assigned
vl target velocity (Object 6042, Sub-index 00, 16bit)
03 R/W u32 0x00000000 Receive PDO1 assignment: 3
rd
object assigned
04 R/W u32 0x00000000 Receive PDO1 assignment: 4
th
object assigned
1601
00 R/W u8 0x01 Receive PDO2 assignment: Number of objects assigned
01 R/W u32 0x60400010 Receive PDO2 assignment: 1
st
object assigned
02 R/W u32 0x00000000 Receive PDO2assignment: 2
nd
object assigned
03 R/W u32 0x00000000 Receive PDO2 assignment: 3
rd
object assigned
04 R/W u32 0x00000000 Receive PDO2 assignment: 4
th
object assigned
1602
00 R/W u8 0x01 Receive PDO3 assignment: Number of objects assigned
01 R/W u32 0x60400010 Receive PDO3 assignment: 1
st
object assigned
02 R/W u32 0x00000000 Receive PDO3assignment: 2
nd
object assigned
03 R/W u32 0x00000000 Receive PDO3 assignment: 3
rd
object assigned
04 R/W u32 0x00000000 Receive PDO3 assignment: 4
th
object assigned
1614
00 R/W u8 0x01 Receive PDO21 assignment: Number of objects assigned
01 R/W u32 0x60400010 Receive PDO21 assignment: 1
st
object assigned
02 R/W u32 0x00000000 Receive PDO21assignment: 2
nd
object assigned
03 R/W u32 0x00000000 Receive PDO21 assignment: 3
rd
object assigned
04 R/W u32 0x00000000 Receive PDO21 assignment: 4
th
object assigned
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