1600h-1603h RPDO mapping parameter N

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

AKD2G supports four receive 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
RxPDO 1	1600h	0 to 32 (4 on CAN"Controller area network" CAN is a broadcast, differential serial bus standard developed for connecting electronic control units. Each node is able to send and receive messages, but not simultaneously bus)
RxPDO 2	1601h	0 to 32 (4 on CAN bus)
RxPDO 3	1602h	0 to 32 (4 on CAN bus)
RxPDO 4	1603h	0 to 32 (4 on CAN bus)

Sub-index 0 contains the number of objects mapped into a PDO. A value of 0 indicates 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:

1600h sub-index 0 = 2 (2 objects mapped for RX PDO 1)

1600h sub-index 1 = 0x60400010 means index 6040h sub-index 0 (control word), bit length of 16 (2 bytes)

1600h sub-index 2 = 0x607A0020 means index 607Ah sub-index 0 (target position), bit length of 32 (4 bytes)

Name	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable
Highest sub-index supported	1600h, 1601h, 1602h, 1603h	0h	Unsigned8	-	-	Read/Write	No
Mapping entry 1	1600h, 1601h, 1602h, 1603h	1h	Unsigned32	-	-	Read/Write	No
Mapping entry 2	1600h, 1601h, 1602h, 1603h	2h	Unsigned32	-	-	Read/Write	No
Mapping entry 3	1600h, 1601h, 1602h, 1603h	3h	Unsigned32	-	-	Read/Write	No
Mapping entry 4	1600h, 1601h, 1602h, 1603h	4h	Unsigned32	-	-	Read/Write	No
Mapping entry 5	1600h, 1601h, 1602h, 1603h	5h	Unsigned32	-	-	Read/Write	No
Mapping entry 6	1600h, 1601h, 1602h, 1603h	6h	Unsigned32	-	-	Read/Write	No
Mapping entry 7	1600h, 1601h, 1602h, 1603h	7h	Unsigned32	-	-	Read/Write	No
Mapping entry 8	1600h, 1601h, 1602h, 1603h	8h	Unsigned32	-	-	Read/Write	No
Mapping entry 9	1600h, 1601h, 1602h, 1603h	9h	Unsigned32	-	-	Read/Write	No
Mapping entry 10	1600h, 1601h, 1602h, 1603h	Ah	Unsigned32	-	-	Read/Write	No
Mapping entry 11	1600h, 1601h, 1602h, 1603h	Bh	Unsigned32	-	-	Read/Write	No
Mapping entry 12	1600h, 1601h, 1602h, 1603h	Ch	Unsigned32	-	-	Read/Write	No
Mapping entry 13	1600h, 1601h, 1602h, 1603h	Dh	Unsigned32	-	-	Read/Write	No
Mapping entry 14	1600h, 1601h, 1602h, 1603h	Eh	Unsigned32	-	-	Read/Write	No
Mapping entry 15	1600h, 1601h, 1602h, 1603h	Fh	Unsigned32	-	-	Read/Write	No
Mapping entry 16	1600h, 1601h, 1602h, 1603h	10h	Unsigned32	-	-	Read/Write	No
Mapping entry 17	1600h, 1601h, 1602h, 1603h	11h	Unsigned32	-	-	Read/Write	No
Mapping entry 18	1600h, 1601h, 1602h, 1603h	12h	Unsigned32	-	-	Read/Write	No
Mapping entry 19	1600h, 1601h, 1602h, 1603h	13h	Unsigned32	-	-	Read/Write	No
Mapping entry 20	1600h, 1601h, 1602h, 1603h	14h	Unsigned32	-	-	Read/Write	No
Mapping entry 21	1600h, 1601h, 1602h, 1603h	15h	Unsigned32	-	-	Read/Write	No
Mapping entry 22	1600h, 1601h, 1602h, 1603h	16h	Unsigned32	-	-	Read/Write	No
Mapping entry 23	1600h, 1601h, 1602h, 1603h	17h	Unsigned32	-	-	Read/Write	No
Mapping entry 24	1600h, 1601h, 1602h, 1603h	18h	Unsigned32	-	-	Read/Write	No
Mapping entry 25	1600h, 1601h, 1602h, 1603h	19h	Unsigned32	-	-	Read/Write	No
Mapping entry 26	1600h, 1601h, 1602h, 1603h	1Ah	Unsigned32	-	-	Read/Write	No
Mapping entry 27	1600h, 1601h, 1602h, 1603h	1Bh	Unsigned32	-	-	Read/Write	No
Mapping entry 28	1600h, 1601h, 1602h, 1603h	1Ch	Unsigned32	-	-	Read/Write	No
Mapping entry 29	1600h, 1601h, 1602h, 1603h	1Dh	Unsigned32	-	-	Read/Write	No
Mapping entry 30	1600h, 1601h, 1602h, 1603h	1Eh	Unsigned32	-	-	Read/Write	No
Mapping entry 31	1600h, 1601h, 1602h, 1603h	1Fh	Unsigned32	-	-	Read/Write	No
Mapping entry 32	1600h, 1601h, 1602h, 1603h	20h	Unsigned32	-	-	Read/Write	No