Siko MSA501, User Manual

Page: 40 / 51

Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 40 of 51
5.6.2.20 1A00h: 1. Transmit PDO Mapping Parameter
Object 1A00h determines the objects that are mapped on the first Transmit PDO (TPDO1) (see
chapter
5.3.1.2: Variable TPDO mapping
).
Subindex 00h
Description number of objects mapped
Access rw
PDO-Mapping no
Data type UNSIGNED 8
Default 2h
EEPROM yes
Subindex 01h
Description 1st object of the PDO1 message (Datenbyte 0 bis 3)
Access rw
PDO-Mapping no
Data type UNSIGNED 32
Default 60040020h (position value object 6004h, Subindex 00h, 32bit)
EEPROM yes
Subindex 02h
Description 2nd object of the PDO1 message (Datenbyte 4 + 5)
Access rw
PDO-Mapping no
Data type UNSIGNED 16
Default 60300110h (Speed Objekt 6030h, Subindex 01h, 16bit)
EEPROM yes
5.6.2.21 1A01h: 2. Transmit PDO Mapping Parameter
Object 1A01h determines the objects that are mapped in the second Transmit PDO (TPDO2)
(see chapter
5.3.1.2: Variable TPDO mapping
).
Subindex 00h
Description number of objects mapped
Access rw
PDO-Mapping no
Data type UNSIGNED 8
Default 2h
EEPROM yes