RS Automation OEMax CSD7, User Manual, Page: 141 / 332

Object Dictionary
7-15
CSD7 Servo Drive (EtherCAT)
PDO Mapping Objects
Thes PDO (Process Data Objects) are used for the real-time data transmission through the
CoE (CANopen over EtherCAT) protocol, in which the application objects are mapped.
Use 0x1600 ~ 0x1604 for RxPDO mapping and 0x1A00 - 0x1A04 for TxPDO mapping. Sub-
indexes 1 or higher indicate the information of mapped application objects.
MSB 16 15 8 7 LSB
Index Sub-Index Bit Length
Bit 0~7 : The bit length of mapped objects (ex. In case of 32 bit, 0x20 is displayed)
Bit 8~15 : The sub-index of mapped objects
Bit 16~31 : The index of mapped objects
Each reception PDO and transmission PDO is mapped as follows: These mapping values are
fixed.
RxPDO Assignment
0x1600 Receive PDO Mapping Parameter 1 ALL
Sub-Index 0 Number of objects in this PDO
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
- 2 byte(UINT) - RO - - 7 -
Sub-Index 1 Control word : 0x6040
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
- 2 byte(UINT) - RO - - - -
Sub-Index 2 Target Position : 0x607A
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
- 4 byte(UDINT) - RO - - - -
Sub-Index 3 Target Velocity : 0x60FF
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
- 4 byte(UDINT) - RO - - - -
Sub-Index 4 Target Torque : 0x6071
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
- 2 byte(UINT) - RO Yes - - -
Sub-Index 5 Modes of operation : 0x6060
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
- 1 byte(USINT) - RO - - - -
Sub-Index 6 Touch probe function : 0x60B8
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no