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ASDA-A3

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CANopen Mode

The format of this object is as follows:

Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit

Bit 0 - Bit 7

Bit 8 - Bit 15

Bit 16 - Bit 31

Function

Object data length

Object sub-index

Object index

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 1800h - 1803h: Transmit PDO communication parameter

Index

Name

Object code

Data type

Access

1800h, 1801h, 1802h, 1803h

Transmit PDO communication parameter

RECORD

PDO CommPar

RW

12

Sub-index

Description

Data type

Access

PDO mapping

Setting range

Default

0

Largest sub-index supported

UNSIGNED8

RO

No

5

5

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