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ASDA-A3

13.4.2 List of objects

13

OD 1XXXh communication object group

Index

1000h

1001h

1003h

1006h

1600h -

1603h

1A00h -

1A03h

1C12h

1C13h

Object code

VAR

VAR

ARRAY

VAR

RECORD

RECORD

ARRAY

ARRAY

Name

Device type

Error register

Pre-defined error field

Communication cycle period

Receive PDO mapping parameter

Transmit PDO mapping parameter

RxPDO assign

TxPDO assign

Note: only 1001h can be mapped to PDO.

Data type

UNSIGNED32

UNSIGNED8

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED16

UNSIGNED16

Access

RO

RO

RW

RW

RW

RW

RW

RW

OD 2XXXh servo parameter group

Index Object code

2XXXh

VAR

Name

Parameter Mapping

Data type

INTEGER16/32

Access Mappable

RW

Y

OD 6XXXh communication object group

Index

603Fh

6040h

6041h

605Bh

6060h

6061h

6062h

6063h

6064h

6065h

6067h

6068h

606Bh

606Ch

606Dh

606Eh

606Fh

6071h

6072h

6074h

6075h

6076h

6077h

6078h

607Ah

607Ch

Object code

Name

VAR

Error code

VAR

Controlword

VAR

Statusword

VAR

Shutdown option code

VAR

Modes of operation

VAR

Modes of operation display

VAR

Position demand value [PUU]

VAR

Position actual internal value [Pulse]

VAR

Position actual value [PUU]

VAR

Following error window

VAR

Position window

VAR

Position window time

VAR

Velocity demand value

VAR

Velocity actual value

VAR

Velocity window

VAR

Velocity window time

VAR

Velocity threshold

VAR

Target torque

VAR

Max torque

VAR

Torque demand value

VAR

Motor rated current

VAR

Motor rated torque

VAR

Torque actual value

VAR

Current actual value

VAR

Target position

VAR

Home offset

Data type

UNSIGNED16

UNSIGNED16

UNSIGNED16

INTEGER16

INTEGER8

INTEGER8

INTEGER32

INTEGER32

INTEGER32

UNSIGNED32

UNSIGNED32

UNSIGNED16

INTEGER32

INTEGER32

UNSIGNED16

UNSIGNED16

UNSIGNED16

INTEGER16

UNSIGNED16

INTEGER16

UNSIGNED32

UNSIGNED32

INTEGER16

INTEGER16

INTEGER32

INTEGER32

Access Mappable

RO

Y

RW

Y

RO

Y

RW

Y

RW

Y

RO

Y

RO

Y

RO

Y

RO

Y

RW

Y

RW

Y

RW

Y

RO

Y

RO

Y

RW

Y

RW

Y

RW

Y

RW

Y

RW

Y

RO

Y

RO

Y

RO

Y

RO

Y

RO

Y

RW

Y

RW

Y

13-46

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