Veichi SD710 Series, User Manual

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SD710 Series Servo Drive User Manal Chapter 11 Communication
65
Sub-index 00
h
Name Number of Mapped Application Objects in PDO
Structure - Data Type Uint8 Range 0
～
4
Mapping Option NO Accessibility RW Default -
Description When set “0”
，
other Sub-index ’s mapp ed objects is invalid.
Sub-index 1
h
～
8
h
Name PDO Mapping for the nth Application Object to be Mapped
Structure - Data Type Uint32 Range Uint32
Mapping Option NO Accessibility RW Default -
Description
The index and subindex of the mapped object content must exist in the object
dictionary list, The properties shall be writable and mappable.Write the
corresponding sub-index in the following format
MSB LSB
31~16 15~8 7~0
Index Sub-index Length of object
RPDO Default Mapping Content:
(1) RPDO1(1600
h
)
Sub-index Value Description
0 1 Map 1 object
1 0x60400010 Control word
(2) RPDO2(1601
h
)
Sub-index Value Description
0 2 Map 2 objects
1 0x60410010 Control word
2 0x60600008 Operation mode selection
(3) RPDO3(1602
h
)
Sub-index Value Description
0 2 Map 2 objects
1 0x60410010 Control word
2 0x607A0020 Target position (position command)
(4) RPDO4(1603
h
)
Sub-index Value Description
0 2 Map 2 objects
1 0x60410010 Control word
2 0x60FF0020 Target speed (speed command)
Object 1A00
Object 1A01
Object 1A02
Object 1A03
Index 1A00
h
～
1A03
h
Name TPDO Mapping Parameter
Structure REC Data Type - Range -
Mapping Option NO Accessibility RW Default -