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06/21/2018
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6.1 Mapping
6.1.1 Object 1A00h: Mapping Parameter
About the sending process data object (0x1A00) the process data listed under the
sub-indexes 1 to 8 can be transmitted.
Because a CN uses only one TPDO channel, only the first mapping parameter object
0x1A00 is implemented.
Index
0x1A00
Object type
ARRAY
Name
PDO_TxMappParam_0h_AU64
Data type
UNSIGNED64
Category
Cond
Sub-index
0
Description
Number of the mapped objects in the PDO
Data type
UNSIGNED8
Access
PDO mapping
no
Value range
Sub-index
1
33
Description
ObjectMapping
Data type
UNSIGNED64
Category
Optional
Access
rw
Format of the internal bit mapping of the PDO mapping entry (Default value)
UNSIGNED64
MSB
LSB
Bits
63…48
47…32
31…24
23…16
15…0
Name
Length in bits
Offset in bits
reserved
Sub-index
Index
Type
UNSIGNED16
UNSIGNED16
-
UNSIGNED8 UNSIGNED16
Changing of the mapping:
To add or remove mappable objects, at first the "number of mapped objects"
in sub-index 0 must be set to "0" to deactivate the mapping.
Set or removing the desired objects from the sub-indices 0x01 to 0x08.
Activate the changed mapping by set sub-index 0 to the real number of
mapped objects.
