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1A00h-1A03h TPDO mapping parameter N

N has a range 1 to 4 in order of the object.

N has a range 1 to 4 in order of the object.

AKD2G supports four transmit PDOs that can be dynamically mapped. Dynamic mapping allows the content of the PDO to be changed while the drive is running. The contents of these PDOs are defined by the values written in these objects.

See Fixed PDO Mappings and Flexible PDO Mappings.

  Index Sub-Indexes
TxPDO 1 1A00h 0 to 32
TxPDO 2 1A01h 0 to 32
TxPDO 3 1A02h 0 to 32
TxPDO 4 1A03h 0 to 32

Sub-index 0 contains the number of objects mapped into a PDO. A value of 0 indicates that this PDO is not active.

Sub-indexes 1 to 32 describe which objects are mapped into each PDO.

31 to 16 15 to 8 7 to 0
Index Sub-Index Length (bits)

Example:

1A00h sub-index 0 = 3 (3 objects mapped for TX PDO 1)

1A00h sub-index 1 = 0x60410010 means index 6041h sub-index 0 (status word), bit length of 16 (2 bytes)

1A00h sub-index 2 = 0x60640020 means index 6064h sub-index 0 (actual position), bit length of 32 (4 bytes)

1A00h sub-index 3 = 0x60F40020 means index 60F4h sub-index 0 (position error), bit length of 32 (4 bytes)

 

Name Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Highest sub-index supported 1A00h, 1A01h, 1A02h, 1A03h 0h Unsigned8 - - Read/Write No
Mapping entry 1 1A00h, 1A01h, 1A02h, 1A03h 1h Unsigned32 - - Read/Write No
Mapping entry 2 1A00h, 1A01h, 1A02h, 1A03h 2h Unsigned32 - - Read/Write No
Mapping entry 3 1A00h, 1A01h, 1A02h, 1A03h 3h Unsigned32 - - Read/Write No
Mapping entry 4 1A00h, 1A01h, 1A02h, 1A03h 4h Unsigned32 - - Read/Write No
Mapping entry 5 1A00h, 1A01h, 1A02h, 1A03h 5h Unsigned32 - - Read/Write No
Mapping entry 6 1A00h, 1A01h, 1A02h, 1A03h 6h Unsigned32 - - Read/Write No
Mapping entry 7 1A00h, 1A01h, 1A02h, 1A03h 7h Unsigned32 - - Read/Write No
Mapping entry 8 1A00h, 1A01h, 1A02h, 1A03h 8h Unsigned32 - - Read/Write No
Mapping entry 9 1A00h, 1A01h, 1A02h, 1A03h 9h Unsigned32 - - Read/Write No
Mapping entry 10 1A00h, 1A01h, 1A02h, 1A03h Ah Unsigned32 - - Read/Write No
Mapping entry 11 1A00h, 1A01h, 1A02h, 1A03h Bh Unsigned32 - - Read/Write No
Mapping entry 12 1A00h, 1A01h, 1A02h, 1A03h Ch Unsigned32 - - Read/Write No
Mapping entry 13 1A00h, 1A01h, 1A02h, 1A03h Dh Unsigned32 - - Read/Write No
Mapping entry 14 1A00h, 1A01h, 1A02h, 1A03h Eh Unsigned32 - - Read/Write No
Mapping entry 15 1A00h, 1A01h, 1A02h, 1A03h Fh Unsigned32 - - Read/Write No
Mapping entry 16 1A00h, 1A01h, 1A02h, 1A03h 10h Unsigned32 - - Read/Write No
Mapping entry 17 1A00h, 1A01h, 1A02h, 1A03h 11h Unsigned32 - - Read/Write No
Mapping entry 18 1A00h, 1A01h, 1A02h, 1A03h 12h Unsigned32 - - Read/Write No
Mapping entry 19 1A00h, 1A01h, 1A02h, 1A03h 13h Unsigned32 - - Read/Write No
Mapping entry 20 1A00h, 1A01h, 1A02h, 1A03h 14h Unsigned32 - - Read/Write No
Mapping entry 21 1A00h, 1A01h, 1A02h, 1A03h 15h Unsigned32 - - Read/Write No
Mapping entry 22 1A00h, 1A01h, 1A02h, 1A03h 16h Unsigned32 - - Read/Write No
Mapping entry 23 1A00h, 1A01h, 1A02h, 1A03h 17h Unsigned32 - - Read/Write No
Mapping entry 24 1A00h, 1A01h, 1A02h, 1A03h 18h Unsigned32 - - Read/Write No
Mapping entry 25 1A00h, 1A01h, 1A02h, 1A03h 19h Unsigned32 - - Read/Write No
Mapping entry 26 1A00h, 1A01h, 1A02h, 1A03h 1Ah Unsigned32 - - Read/Write No
Mapping entry 27 1A00h, 1A01h, 1A02h, 1A03h 1Bh Unsigned32 - - Read/Write No
Mapping entry 28 1A00h, 1A01h, 1A02h, 1A03h 1Ch Unsigned32 - - Read/Write No
Mapping entry 29 1A00h, 1A01h, 1A02h, 1A03h 1Dh Unsigned32 - - Read/Write No
Mapping entry 30 1A00h, 1A01h, 1A02h, 1A03h 1Eh Unsigned32 - - Read/Write No
Mapping entry 31 1A00h, 1A01h, 1A02h, 1A03h 1Fh Unsigned32 - - Read/Write No
Mapping entry 32 1A00h, 1A01h, 1A02h, 1A03h 20h Unsigned32 - - Read/Write No

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