1A00h-1A03h TPDO mapping parameter N

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 Mappings.

	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)

Name	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable
Highest sub-index supported	1A00h, 1A01h, 1A02h, 1A03h	0h	Unsigned8	-	-	Read/Write	No
Mapping entry 1	1A00h, 1A01h, 1A02h, 1A03h	1h	Unsigned32	-	-	Read/Write	No
Mapping entry 2	1A00h, 1A01h, 1A02h, 1A03h	2h	Unsigned32	-	-	Read/Write	No
Mapping entry 3	1A00h, 1A01h, 1A02h, 1A03h	3h	Unsigned32	-	-	Read/Write	No
Mapping entry 4	1A00h, 1A01h, 1A02h, 1A03h	4h	Unsigned32	-	-	Read/Write	No
Mapping entry 5	1A00h, 1A01h, 1A02h, 1A03h	5h	Unsigned32	-	-	Read/Write	No
Mapping entry 6	1A00h, 1A01h, 1A02h, 1A03h	6h	Unsigned32	-	-	Read/Write	No
Mapping entry 7	1A00h, 1A01h, 1A02h, 1A03h	7h	Unsigned32	-	-	Read/Write	No
Mapping entry 8	1A00h, 1A01h, 1A02h, 1A03h	8h	Unsigned32	-	-	Read/Write	No
Mapping entry 9	1A00h, 1A01h, 1A02h, 1A03h	9h	Unsigned32	-	-	Read/Write	No
Mapping entry 10	1A00h, 1A01h, 1A02h, 1A03h	Ah	Unsigned32	-	-	Read/Write	No
Mapping entry 11	1A00h, 1A01h, 1A02h, 1A03h	Bh	Unsigned32	-	-	Read/Write	No
Mapping entry 12	1A00h, 1A01h, 1A02h, 1A03h	Ch	Unsigned32	-	-	Read/Write	No
Mapping entry 13	1A00h, 1A01h, 1A02h, 1A03h	Dh	Unsigned32	-	-	Read/Write	No
Mapping entry 14	1A00h, 1A01h, 1A02h, 1A03h	Eh	Unsigned32	-	-	Read/Write	No
Mapping entry 15	1A00h, 1A01h, 1A02h, 1A03h	Fh	Unsigned32	-	-	Read/Write	No
Mapping entry 16	1A00h, 1A01h, 1A02h, 1A03h	10h	Unsigned32	-	-	Read/Write	No
Mapping entry 17	1A00h, 1A01h, 1A02h, 1A03h	11h	Unsigned32	-	-	Read/Write	No
Mapping entry 18	1A00h, 1A01h, 1A02h, 1A03h	12h	Unsigned32	-	-	Read/Write	No
Mapping entry 19	1A00h, 1A01h, 1A02h, 1A03h	13h	Unsigned32	-	-	Read/Write	No
Mapping entry 20	1A00h, 1A01h, 1A02h, 1A03h	14h	Unsigned32	-	-	Read/Write	No
Mapping entry 21	1A00h, 1A01h, 1A02h, 1A03h	15h	Unsigned32	-	-	Read/Write	No
Mapping entry 22	1A00h, 1A01h, 1A02h, 1A03h	16h	Unsigned32	-	-	Read/Write	No
Mapping entry 23	1A00h, 1A01h, 1A02h, 1A03h	17h	Unsigned32	-	-	Read/Write	No
Mapping entry 24	1A00h, 1A01h, 1A02h, 1A03h	18h	Unsigned32	-	-	Read/Write	No
Mapping entry 25	1A00h, 1A01h, 1A02h, 1A03h	19h	Unsigned32	-	-	Read/Write	No
Mapping entry 26	1A00h, 1A01h, 1A02h, 1A03h	1Ah	Unsigned32	-	-	Read/Write	No
Mapping entry 27	1A00h, 1A01h, 1A02h, 1A03h	1Bh	Unsigned32	-	-	Read/Write	No
Mapping entry 28	1A00h, 1A01h, 1A02h, 1A03h	1Ch	Unsigned32	-	-	Read/Write	No
Mapping entry 29	1A00h, 1A01h, 1A02h, 1A03h	1Dh	Unsigned32	-	-	Read/Write	No
Mapping entry 30	1A00h, 1A01h, 1A02h, 1A03h	1Eh	Unsigned32	-	-	Read/Write	No
Mapping entry 31	1A00h, 1A01h, 1A02h, 1A03h	1Fh	Unsigned32	-	-	Read/Write	No
Mapping entry 32	1A00h, 1A01h, 1A02h, 1A03h	20h	Unsigned32	-	-	Read/Write	No