SD710 Series Servo Drive User Manal Chapter 11 Communication
46
Object 1600: RPDO1 Mapping Parameter
Object 1601: RPDO2 Mapping Parameter
Object 1602: RPDO3 Mapping Parameter
Object 1603: RPDO4 Mapping Parameter
index
1600
h
to 1603
h
Name
RPDO Mapping Parameter (RPDO Mapping Parameter)
Object
structure
REC
Data type
-
Data range
-
Mapping option
NO
accessibility
RW
Default
-
Function
description
This object may only be modified in the PDO invalid state. The total bit length of the
mapped object must not exceed 64 bits, and only per-byte mapping is supported, not per-bit
mapping.
Sub index
00
h
Name
Number of valid mapping objects for PDO
(Number of Mapped Application Objects in PDO)
Object
structure
-
Data type
Uint8
Data range
0 to 4
Mapping option
NO
accessibility
RW
Default
-
Function
description
Writing 0 invalidates other Sub index mapping objects.
Sub index
1
h
to 4
h
Name
RPDO Mapping for the nth Application Object to be Mapped
Object
structure
-
Data type
Uint32
Data range
Uint32
Mapping option
NO
accessibility
RW
Default
-
Function
description
The mapped object content index and Sub index must exist in the object dictionary list,
have the attributes in a writable state, and be mappable. The corresponding sub-indexes
are written in the following format.
MSB LSB
31 16
15 8
7 0
index
Sub index
Object Length
RPDO default mapping content.
（
1
）
RPDO1 (
1600
h
)
Sub index
value
description
0
1
Mapping 1 object
1
0x60400010
command word
（
2
）
RPDO2(
1601
h
)
word index
value
description
0
2
Mapping 2 objects
1
0x60410010
control word
2
0x60600008
Operation mode selection
（
3
）
RPDO3(
1602
h
)
