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Digitax HD M753 Control User Guide
Issue Number: 3
Table 9-18 TxPDO mapping 1
Table 9-19 TxPDO mapping 2
Table 9-20 Tx PDO mapping 3
Table 9-21 TxPDO mapping 5
0x1A00
Transmit PDO mapping 1
Sub-index 0: Number of mapped objects
Access: RW
Range: 0 to 12
Size: 1 byte
Unit: N/A
Default: 1
Type:
USINT
Description:
The number of mapped objects in the PDO
Sub-index 1: 1st mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes
Unit: N/A
Default:
0x60410010 - the CiA402
status word (0x6041)
Type: UDINT
Description:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit
parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
0x1A01
Transmit PDO mapping 2
Sub-index 0: Number of mapped objects
Access: RW
Range: 0 to 12
Size: 1 byte
Unit: N/A
Default: 2
Type:
USINT
Description:
The number of mapped objects in this PDO.
Sub-index 1: 1st mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes
Unit: N/A
Default:
0x60410010 - the CiA402
status word (0x6041)
Type: UDINT
Description:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit
parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
Sub-index 2: 2nd mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes
Unit: N/A
Default:
0x60610008 - the CiA402
modes of operation display
object (0x6061)
Type:
UDINT
Description:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit
parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
0x1A02
Transmit PDO mapping 3
Sub-index 0: Number of mapped objects
Access: RW
Range: 0 to 12
Size: 1 byte
Unit: N/A
Default: 2
Type:
USINT
Description:
The number of mapped objects in this PDO.
Sub-index 1: 1st mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes
Unit: N/A
Default:
0x60410010 - the CiA402
status word (0x6041)
Type: UDINT
Description:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit
parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
Sub-index 2: 2nd mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes
Unit: N/A
Default:
0x60640020 - the CiA402
actual position (0x6064)
Type:
UDINT
Description:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit
parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
0x1A04
Transmit PDO mapping 5
Sub-index 0: Number of mapped objects
Access: RW
Range: 0 to 12
Size: 1 byte
Unit: N/A
Default: 2
Type:
USINT
Description:
The number of mapped objects in this PDO.
Sub-index 1: 1st mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes
Unit: N/A
Default:
0x60410010 - the CiA402
status word (0x6041).
Type: UDINT
Description:
A mapping to an object. This will have the following format:
Bits 0 to 7: Length of the mapped object in bits (if a gap, bit length
of the gap).
Bits 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bits 16 to 31: Index of the mapped object (if a gap, zero).
Sub-index 2: 2nd mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes
Unit: N/A
Default:
0x60770010 - the CiA402
actual torque (0x6077)
Type:
UDINT
Description:
A mapping to an object. This will have the following format:
Bits 0 to 7: Length of the mapped object in bits (if a gap, bit length
of the gap).
Bits 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bits 16 to 31: Index of the mapped object (if a gap, zero).
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