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Communication-Specific Standard Objects (CiA DS-301)
Printed in the Federal Republic of Germany
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TR-Electronic GmbH 2010, All Rights Reserved
10/07/2013 TR - ECE - BA - DGB - 0080 - 05 Page 137 of 176
9.8.10 Object 1A14h: 15
th
Transmit PDO Mapping
The process data entered in sub-index 1 to 4 can be transmitted with the fifteenth
Transmit Process Data Object 0x1A14.
The assignment of whether object 0x1A14 is actually transmitted as process data is made
via object
“Object 1C13h: Sync Manager Channel 3 (process data input)” page 140.
Index 0x1A14
Name TxPDO 15 Single / Multi Speed Big mapping
Object code
RECORD
Data type PDO_MAPPING
Category Mandatory for each supported TxPDO
PDO Mapping
No
Sub-Index Description Value Data type Access
0 Number of entries
4 UNSIGNED8 ro
1 Position Multi 31010220h UNSIGNED32 ro
2
Position Single 31010120h UNSIGNED32 ro
3
Speed 60300010h UNSIGNED16 ro
4 Alarms 65030010h UNSIGNED16 ro
LSB MSB
Position Multi Position Single Speed Alarms
Byte 0 Byte 1 Byte 2 Byte 3 Byte 0 Byte 1 Byte 2 Byte 3 Byte 0 Byte 1 Byte 0 Byte 1
2
31
-2
24
2
23
-2
16
2
15
-2
8
2
7
-2
0
2
31
-2
24
2
23
-2
16
2
15
-2
8
2
7
-2
0
2
15
-2
8
2
7
-2
0
2
15
-2
8
2
7
-2
0