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4.2. RPDO: Receive PDO
Index
Sub
index
Access Type Default value Description
0x00 R/W u8 0x02
Receive PDO mapping – Number of mapped object: 0 to 4
objects can be mapped for this PDO
0x01 R/W u32 0x60400010
Receive PDO mapping – 1st mapped object: Control word
“CMD” (0x6040)
0x02 R/W u32 0x60420010
Receive PDO mapping – 2nd mapped object: Velocity
reference “LFRD” (0x6042)
0x03 R/W u32 0x00000000 Receive PDO mapping: 3rd mapped object
0x04 R/W u32 0x00000000 Receive PDO mapping: 4th mapped object
0x05 R/W u32 0x00000000 Receive PDO mapping: 5th mapped object
0x1600
0x06 R/W u32 0x00000000 Receive PDO mapping: 6th mapped object
4.3. TPDO: Transmit PDO
Index
Sub
index
Access Type Default value Description
0x00 R/W u8 0x02 Transmit PDO mapping: Number of mapped objects.
0x01 R/W u32 0x60410010
Transmit PDO mapping – 1st mapped object: Status word
“ETA” (0x6041)
0x02 R/W u32 0x60440010
Transmit PDO mapping – 2nd mapped object: Velocity
reference “RFRD” (0x6044/00) default value
0x03 R/W u32 0x00000000 Transmit PDO mapping: 3rd mapped object
0x04 R/W u32 0x00000000 Transmit PDO mapping: 4th mapped object
0x05 R/W u32 0x00000000 Transmit PDO mapping: 5th mapped object
0x1A00
0x06 R/W u32 0x00000000 Transmit PDO mapping: 6th mapped object
4.4. MB1/S15 specific profile
Drive parameters are defined as Manufacturer Specific Objects.
Drive parameter F*** are defined as 0x2****. So drive parameters from F000 to FFFF are
accessed from network as Objects.
The MB1/S15 parameters are based on CANopen addresses.
Parameter
No.
Comm. No. Object No.
Trans.
type
Note
F000 ~ F999 0000 ~ 0999
0x2000 ~
0x2999
SDO
PDO*
User parameter area
FA00 ~ FF99 FA00 ~ FF99
0x2A00 ~
0x2F99
SDO
PDO*
Disclosed command and monitor
parameter No. can be mapped.
Refer to the communication manual.
A000 ~ AF99 A000 ~ AF99
0x3000 ~
0x3F99
SDO User parameter area
C000 ~ CF99 C000 ~ CF99
0x4000 ~
0x4F99
SDO User parameter area
*C001-C006 and C021-C026 supported parameters are able to mapping to PDO.
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