Communication-Specific Standard Objects (CiA DS-301)
TR-Electronic GmbH 2018, All Rights Reserved
Printed in the Federal Republic of Germany
Page 84 of 111
TR - ELA - BA - DGB - 0029 - 00
08/29/2018
6.1 Mapping
6.1.1 Object 1A00h: PDO_TxMappParam_00h_AU64
This object describes the mapping of the objects contained in TPDO payload to object
dictionary entries.
Because a CN uses only one TPDO channel, only the first mapping parameter object
0x1A00 is implemented.
Index
0x1A00
Object type
ARRAY
Name
PDO_TxMappParam_00h_AU64
Data type
UNSIGNED64
Category
Cond
Sub-Index
000
Description
Number of the mapped objects in the PDO
Access
rw
PDO mapping
no
Default value
0x0A
Value range
0
…0xFE
TPDO mapping parameter, default setting
Index
0x1A00
Name
PDO_TxMappParam_00h_AU64
Sub-Index Name
Default value in HEX
Data type
Access
0x00
Number of entries
07
ro
0x01
ObjectMapping;
Status, 16 Bit
3000-00-00
–0000-0010 UNSIGNED64
ro
0x02
ObjectMapping;
Position 1, 32 Bit
6020-01-00
–0010-0020 UNSIGNED64
ro
0x03
ObjectMapping;
Speed 1, 16 Bit
6030-01-00
–0030-0010 UNSIGNED64
ro
0x04
ObjectMapping;
Position 2, 32 Bit
6020-02-00
–0040-0020 UNSIGNED64
ro
0x05
ObjectMapping;
Speed 2, 16 Bit
6030-02-00
–0060-0010 UNSIGNED64
ro
0x06
ObjectMapping;
Position 3, 32 Bit
6020-03-00
–0070-0020 UNSIGNED64
ro
0x07
ObjectMapping;
Speed 3, 16 Bit
6030-03-00
–0090-0010 UNSIGNED64
ro
Format of the internal bit mapping of the PDO mapping entry (Default value)
UNSIGNED64
MSB
LSB
Bits
63…48
47…32
31…24
23…16
15…0
Name
Length in bits
Offset in bits
reserved
Sub-Index
Index
Type
UNSIGNED16
UNSIGNED16
-
UNSIGNED8 UNSIGNED16
