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

 

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