40
7
SERVICE
7.1
Process Data Object (PDO)
7.1.1 Receive PDO
Standard
A7NCA
Support
PDO
No.
Mapping
object
Index
Mapping object name
Description
1
6040h control word
controls the state machine
{
(1stRPDO)
2
6040h
6060h
control word
modes_of_operation
controls the state machine and mode of operation
3
6040h
607Ah
control word
target_position
controls the state machine and the target position(pp)
4
6040h
60FFh
control word
target_velocity(pv)
controls the state machine and the target velocity(pv)
5
6040h
6071h
control word
target_torque
controls the state machine and the target torque(tq)
6
6040h
6042h
control word
target_velocity(vl)
controls the state machine and the nominal speed(vl)
{
(2ndRPDO)
7
6040h
60FEh
control word
digital_outputs
controls the state machine and the digital outputs
8
6040h
6060h
control word
modes_of_operation
controls the state machine and mode of
operation(Broadcast PDO)
9 to 20
reserved
21
4010h
4012h
Control input command
Set frequency (RAM)
(A7NCA-specific format)
{
(3rdRPDO)
22 to 64
manufacturer specific
A7NCA.book 40 ページ ２００６年７月３日 月曜日 午前９時４８分
