Delta ASDA-A3 Series User Manual page 706

ASDA-A3
Example:
To set three PDOs (OD 6040h, OD 607Ah, and OD 6060h) in the first group of PDO, the setting
is as follows:
Receive PDO
mapping
parameter setting
OD 1600 sub0
OD 1600 sub1
OD 1600 sub2
OD 1600 sub3
Object 1800h - 1803h: TPDO communication parameter
Index
Name
Object code
Data format
Access
Sub-index
Description
Data format
Access
PDO mapping
Setting range
Default
Sub-index
Description
Data format
Access
PDO mapping
Setting range
Default
Data
3
6040h 00h
607Ah 00h
6060h 00h
The total length is 38h (56-bit) which meets the specification of less
Note
than 64-bit.
1800h - 1803h
Transmit PDO parameter
RECORD
PDO CommPar
RW
0
Largest sub-index supported
UNSIGNED8
RO
No
5
5
1
COB-ID used by PDO
UNSIGNED32
RW
No
UNSIGNED32
Default Node-ID: 0
Index 1800h: 180h + Node-ID
Index 1801h: 280h + Node-ID
Index 1802h: 380h + Node-ID
Index 1803h: 480h + Node-ID
Description
Set 3 PDO mappings.
Mapping control command (6040h),
10h
data length is 16-bit
Mapping target position (607Ah ),
20h
data length is 32-bit
Mapping mode position (6060h),
08h
data length is 8-bit
CANopen Mode
12
12-45