User manual of EL8-EC***F AC Servo
296
Table 7.3 Default PDO mapping
PDO Map
object
index
PDO
Map
object
Sub-index
Mapping
content
Mapped Object
Description
Index
Sub-index
Bit length
RXPDO1
(1600h)
01h
60400010h
00h
10h(16 bit)
01h
02h
607A0020h
00h
10h(16 bit)
02h
03h
60B80020h
00h
03h
RXPDO2
(1601h)
01h
60400010h
6040h
00h
10h(16 bit)
Control word
02h
60FF0020h
60FFh
00h
20h(32 bit)
Target velocity
03h
60B20010h
60B2h
00h
10h(16 bit)
Torque feedforward
RXPDO3
(1602h)
01h
60400010h
6040h
00h
10h(16 bit)
Control word
02h
60710010h
6071h
00h
10h(16 bit)
Target torque
03h
60870020h
6084h
00h
20h(32 bit)
Profile deceleration
RXPDO4
(1603h)
01h
60400010h
6040h
00h
10h(16 bit)
Control word
02h
60980008h
6098h
00h
08h(8 bit)
Homing method
03h
60990120h
6099h
01h
20h(32 bit)
High homing
velocity
04h
60990220h
6099h
02h
20h(32 bit)
Low homing
velocity
05h
609A0020h
609Ah
00h
20h(32 bit)
Homing
acceleration
06h
607C0020h
607Ch
00h
20h(32 bit)
Homing position
offset
07h
60600008h
6060h
00h
08h(8 bit)
Operation mode
TXPDO1
(1A00h)
01h
603F0000h
02h
60410000h
03h
60610000h
04h
60640000h
05h
60B90020h
06h
60BA0020h
07h
60FD0020h
TXPDO2
(1A01h)
No default mapping