CanOpen protocol
Positioning module IMD20, IMD40
Transmit PDO2 – Mapping parameters
Index Sub Name
Type
Attrib Map Default
value
Meaning
1A01
T_ PDO2 Mapping
RECORD
Mapping parameters.
1A01
00
PDO
Unsigned 8
RW
N
2
Number of objects.
No. of obj. in
1A01
01
Mapping for 1st obj. Unsigned 32
RW
N
0x60410010
Mapping of the 1
st
object.
1A01
02
Mapping for 2nd obj. Unsigned 32
RW
N
0x60610008
Mapping of the 2
nd
object.
1A01
03
Mapping for 3rd obj.
d 32
00
the 3
rd
object.
Unsigne
RW
N
0x000000
Mapping of
1A01
04
Mapping for 4th obj. Unsigned 32
RW
N
0000
Mapping of the 4
th
object.
0x0000
Transmit PDO3 – Mapping parameters
Index Sub Name
Type
Attrib Map Default
value
Meaning
1A02
T_ PDO3 mapping
RECORD
Mapping parameters of
rd
the 3 Transmit PDO.
1A02
00
No. of obj. in PDO
d 8
objects.
Unsigne
RW
N
2
Number of
1A02
01
Mapping for 1st obj. Unsigned 32
RW
N
0x60410010
st
Mapping of the 1 object.
1A02
02
Mapping for 2nd obj. Unsigned 32
RW
N
0x60640020
Mapping of the 2
nd
object.
1A02
03
Mapping for 3rd obj. Unsigned 32
RW
N
0x00000000
Mapping of the 3
rd
object.
1A02
04
Mapping for 4th obj. Unsigned 32
RW
N
0x00000000
f the 4
th
object.
Mapping o
Transmit PDO4 – Mapping parameters
Index Sub Name
Type
Attrib Map Default
value
Meaning
1A03
T_ PDO4 Mapping
RECORD
Mapping parameters.
1A03
00
No. of obj. in PDO
Unsigned 8
RW
N
2
Number of objects.
1A03
01
Mapping for 1st obj. Unsigned 32
RW
N
0x60410010
Mapping of the 1
st
object.
1A03
02
Mapping for 2nd obj. Unsigned 32
RW
N
0x606C0020
Mapping of the 2
nd
object.
1A03
03
Mapping for 3rd obj. Unsigned 32
RW
N
0x00000000
Mapping of the 3
rd
object.
1A03
04
Mapping for 4th obj. Unsigned 32
0
4
th
object.
RW
N
0x0000000
Mapping of the
98