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ASDA-A3

13.2.4.2 Set PDO mapping

13

Take the second group of PDO configuration OD 1601h and OD 1A01h as an example, and the

settings are as follows:

1. Disable the PDO configuration: set OD 1C12h sub0 to 0 (RxPDO) and OD 1C13h sub0 to 0

(TxPDO).

2. Disable the PDO mapping setting: set OD 1600h sub0 to 0 (RxPDO) and OD 1A01h sub0

to 0 (TxPDO).

3. Set OD 1601h sub1 - sub5 for the RxPDO mapping content, and set OD 1601h sub0 to 5

for the RxPDO mapping number.

Mapping

parameter setting

for RxPDO

OD 1601h sub1

OD 1601h sub2

OD 1601h sub3

OD 1601h sub4

Data

6040h 00h

607Ah 00h

60FFh 00h

6071h 00h

OD 1601h sub5 60B8h 00h

OD 1601h sub0

5

Description

10h Controlword (6040h); data length is 16-bit.

20h Target position (607Ah); data length is 32-bit.

20h Target velocity (60FFh); data length is 32-bit.

10h Target torque (6071h); data length is 16-bit.

10h

Touch probe function (60B8h); data length is

16-bit.

Set 5 for the RxPDO mapping number.

4. Set OD 1A01h sub1 - sub7 for the TxPDO mapping content, and set OD 1A01h sub0 to 7

for the TxPDO mapping number.

Mapping

parameter setting

for TxPDO

OD 1A01h sub1

OD 1A01h sub2

Data

6041h 00h

6064h 00h

OD 1A01h sub3 606Ch 00h

OD 1A01h sub4 6077h 00h

OD 1A01h sub5 60B9h 00h

OD 1A01h sub6 60BAh 00h

OD 1A01h sub7 60FDh 00h

OD 1A01h sub0

7

Description

10h Statusword (6041h); data length is 16-bit.

20h

Position actual value (6064h); data length is

32-bit.

20h

Velocity actual value (606Ch); data length is

32-bit.

10h

Torque actual value (6077h); data length is

16-bit.

10h

Touch probe status (60B9h); data length is

16-bit.

20h

Touch probe pos1 pos value (60BAh); data

length is 32-bit.

20h Digital inputs (60FDh); data length is 32-bit.

Set 7 for the TxPDO mapping number.

5. Set the PDO mapping configuration: set OD 1C12h sub1 to 0x1601 (RxPDO) and

OD 1C13h sub1 to 0x1A01 (TxPDO).

6. Enable the PDO configuration: set OD 1C12h sub0 to 1 (RxPDO) and OD 1C13h sub0 to 1

(TxPDO).

13-20

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