SD710 Series Servo Drive User Manal Chapter 11 Communication
49
Function
description
This object can be modified only when the PDO state is invalid. 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
When writing 0, the Sub index mapping object is invalid.
Sub index
1
h
to 4
h
Name
TP
DO 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 indexes must exist in the object dictionary list,
have the attributes in a writable state, and be mappable.
Write the corresponding mapping object in the following format.
MSB LSB
31 16
15 8
7 0
index
Sub index
Object Length
TPDO default mapping content.
(1) TPDO1 (
1A00
h
)
word index
value
description
0
1
Mapping 1 object
1
0x60410010
status word
(2) TPDO2(
1A01
h
)
word index
value
description
0
2
Mapping 2 objects
1
0x60410010
status word
2
0x60610008
Current operating mode
(3) TPDO3(
1A02
h
)
word index
value
description
0
2
Mapping 2 objects
1
0x60410010
status word
2
0x60640020
Current position
(4) TPDO4(
1A03
h
)
word index
value
description
0
2
Mapping 2 objects
1
0x60410010
status word
2
0x606C0020
Current speed
