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 |
