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22
Object
No.
Name
Sub
Idx
Function
Data type
ro
rw
co
Map
Default
value
1801h
p. 50
Transmit
PDO2 com.
parameter
00h
Defines the com.
parameters of the 2nd
TPDO
Unsigned8
co
no
05h
01h
COB-ID for PDO
Unsigned32
rw
280h + Node-
ID
02h
Transmission Type
Unsigned8
rw
01h
05h
Event-Timer
Unsigned16
rw
0000h
1802h
p. 50
Transmit
PDO3 com.
parameter
00h
Defines the com.
parameters of the 3rd
TPDO
Unsigned8
co
no
05h
01h
COB-ID for PDO
Unsigned32
rw
380h + Node-
ID
02h
Transmission Type
Unsigned8
rw
01h
05h
Event-Timer
Unsigned16
rw
0000h
1803h
p. 50
Transmit
PDO4 com.
parameter
00h
Defines the com.
parameters of the 4th
TPDO
Unsigned8
co
no
05h
01h
COB-ID for PDO
Unsigned32
rw
480h + Node-
ID
02h
Transmission Type
Unsigned8
rw
01h
05h
Event-Timer
Unsigned16
rw
0000h
1A00h
p. 52
TPDO1
mapping
parameter
00h
Defines the PDO-
mapping of the 1st
TPDO
Unsigned8
rw
no
01h
01h
Mapped application
object 1
Unsigned32
rw
6004 0020h
variable,
depends on
sub-index 00h
02h
-
08h
Mapped application
object 2 - 8
Unsigned32
rw
1A01h
p. 52
TPDO2
mapping
parameter
00h
Defines the PDO-
mapping of the 2nd
TPDO
Unsigned8
rw
no
01h
01h
Mapping von Objekt 1
in der Applikation
Unsigned32
rw
6004 0020h
variable,
depends on
sub-index 00h
02h
-
08h
Mapped application
object 2 - 8
Unsigned32
rw
1A02h
p. 52
TPDO3
mapping
parameter
00h
Defines the PDO-
mapping of the 3rd
TPDO
Unsigned8
rw
no
01h
01h
Mapped application
object 1
Unsigned32
rw
6008 0020h
variable,
depends on
sub-index 00h
02h
-
08h
Mapped application
object 2 - 8
Unsigned32
rw
1A03h
p. 52
TPDO4
mapping
parameter
00h
Defines the PDO-
mapping of the 4th
TPDO
Unsigned8
rw
no
00h
variable,
depends on
sub-index 00h
01h
-
08h
Mapped application
object 1 - 8
Unsigned32
rw
1F80h
p. 34
NMT-Start-up-
behaviour
00h
Defines the start-up
behaviour of encoder
Unsigned32
rw
no
0000 0000h
Table 6.1: Object dictionary 1000h
– 1F80h
(p. = page reference; ro / rw / co = access type; Map = PDO-Mapping; i* = individual; dyn = dynamic; ST =
singleturn; MT = multiturn)
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