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1B21h TxPDO fixed mapping parameter 0x1b21

Fixed map for supporting velocity mode on axis 2.

Sub-Index Value Mapped Value
0 3 Three PDO entries
1 0x68410010 6841h – Status Word
2 0x68640020 6864h – Actual position
3 0x686C0020 686Ch – Actual velocity

 

Name Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Highest sub-index supported 1B21h 0h Unsigned8 - - Read only No
Mapping entry 1 1B21h 1h Unsigned32 - - Read only No
Mapping entry 2 1B21h 2h Unsigned32 - - Read only No
Mapping entry 3 1B21h 3h Unsigned32 - - Read only No

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