1A03h TxPDO mapping parameter 4
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 Mapping.
| 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)
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 1A03h | 0 | Unsigned8 | - | - | Read/Write | No | All |
| Mapping entry 1 | 1A03h | 1 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 2 | 1A03h | 2 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 3 | 1A03h | 3 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 4 | 1A03h | 4 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 5 | 1A03h | 5 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 6 | 1A03h | 6 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 7 | 1A03h | 7 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 8 | 1A03h | 8 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 9 | 1A03h | 9 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 10 | 1A03h | 10 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 11 | 1A03h | 11 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 12 | 1A03h | 12 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 13 | 1A03h | 13 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 14 | 1A03h | 14 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 15 | 1A03h | 15 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 16 | 1A03h | 16 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 17 | 1A03h | 17 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 18 | 1A03h | 18 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 19 | 1A03h | 19 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 20 | 1A03h | 20 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 21 | 1A03h | 21 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 22 | 1A03h | 22 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 23 | 1A03h | 23 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 24 | 1A03h | 24 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 25 | 1A03h | 25 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 26 | 1A03h | 26 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 27 | 1A03h | 27 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 28 | 1A03h | 28 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 29 | 1A03h | 29 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 30 | 1A03h | 30 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 31 | 1A03h | 31 | Unsigned32 | - | - | Read/Write | No | All |
| Mapping entry 32 | 1A03h | 32 | Unsigned32 | - | - | Read/Write | No | All |
