SD710 Series Servo Drive User Manal Chapter 11 Communication
66
Description
You can only modify this object if the PDO is invalid. The total bit length of a mapped object
cannot exceed 32 bytes. The mapped object supports byte mapping only but not bitwise
mapping.
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”,
the mapped object of the subindex is invalid.
Sub-index
1
h
～
8
h
Name
TPRO Mapped object (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 sub-index of the mapped object must be in the object dictionary
list. The properties shall be writable and mappable. Write the corresponding
mapped object in the following format:
31~16
15~ 8
7~ 0
Index
Sub-index
Length of object
TPDO default mapping content:
(1)TPDO1(
1A00
h
)
Sub-index
Value
Description
0
1
Map 1 object
1
0x60410010
Status word
(2)TPDO2(
1A01
h
)
Sub-index
Value
Description
0
2
Map 2 objects
1
0x60410010
Status word
2
0x60610008
Current running mode
(3)TPDO3(
1A02
h
)
Sub-index
Value
Description
0
2
Map 2 objects
1
0x60410010
Status word
2
0x60640020
Current position
(4)TPDO4(
1A03
h
)
Sub-index
Value
Description
0
2
Map 2 objects
1
0x60410010
Status word
2
0x606C0020
Current velocity
Object 1C12h:
Sync Manager 2 RPDO Assignment
Index
1C12h
Name
Sync Manager 2 RPDO Assignment
Structure
ARR
Data Type
Uint16
Range
-
