TR-Electronic CEV-58 - Object 1 A01 H: 2 Transmit PDO Mapping

Communication-Specific Standard Objects (CiA DS-301)
Printed in the Federal Republic of Germany © TR-Electronic GmbH 2008, All Rights Reserved
11/17/2009 TR - ECE - BA - DGB - 0069 - 02 Page 99 of 119
8.7 Object 1A01h: 2
nd
Transmit PDO Mapping
The following process data can be transmitted with the second Transmit Process Data
Object 0x1A01:
● Status, Object 3101, Input --> Sub-Index 1
● Position, Object 3101, Input --> Sub-Index 2
● Time Stamp, Object 3101, Input --> Sub-Index 3
The assignment of whether object 0x1A01 is actually transmitted as process data is made
via object "Object 1C13h: Sync Manager Channel 3 (process data input)" page 103.
Index 0x1A01
Name
TxPDO 2 Time Stamp mapping
Object code
RECORD
Data type
PDO_MAPPING
Category
Mandatory for each supported TxPDO
Sub-Index 0
Description
Number of mapped objects in the PDO
Data type
UNSIGNED8
Category
Mandatory
Access
ro
PDO mapping
No
Value
3
Sub-Index 1
Description
Input, Status
Data type
UNSIGNED32
Category
Conditional
Access
ro
PDO mapping
No
Value
Bit 0-7: Length of the mapped object in bits = 8
Bit 8-15: Sub-index of the mapped object = 1
Bit 16-31: Index of the mapped object = 3101