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ASDA-A3

13

Example:

To set the three PDOs, OD 6040h, OD 607Ah, and OD 6060h, in the first group of PDO,

the setting is as follows.

Mapping

parameter setting

for RxPDO

OD 1600h sub0

OD 1600h sub1

OD 1600h sub2

OD 1600h sub3

Note

Data

Description

3

Set 3 PDO mappings.

6040h

00h

10h

Mapping Controlword (6040h);

data length is 16-bit

607Ah

00h

20h

Mapping target position (607Ah);

data length is 32-bit

6060h

00h

08h

Mapping mode (6060h);

data length is 8-bit

The total length is 38h (56-bit) which meets the specification of less

than 64-bit.

Objects 1A00h - 1A03h: Transmit PDO mapping parameter

Index

Name

Object code

Data type

Access

Note

1A00h, 1A01h, 1A02h, 1A03h

Transmit PDO mapping parameter

RECORD

PDO mapping

RW

The total length of objects in a group of PDO cannot

exceed 64 bits.

Sub-index

Description

Data type

Access

PDO mapping

Setting range

Default

0

Number of PDO mappings

UNSIGNED8

RW

No

0: disable

1 - 8: set the number of PDO mapping and enable

the function

0

Sub-index

Description

Data type

Access

PDO mapping

Setting range

Default

1 - 8

Specify the 1st (to 8th) object and its content to be

mapped

UNSIGNED32

RW

No

UNSIGNED32

0

Format of this object: (High word h) DCBA; (Low word L) UZYX

DCBA

Bit 16 - Bit 31

Object index

YX

Bit 0 - Bit 7

Object data length

UZ

Bit 8 - Bit 15

Object sub-index

13-52

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