Table of Contents
Advertisement
TxPDO default mapping
With the TxPDO default mapping, status data is transmitted to a master station (controller) using a TxPDO in the array shown
in the following table.
Map No.
1st TxPDO map (1A00h)
2nd TxPDO map (1A01h)
3rd TxPDO map (1A02h)
4th TxPDO map (1A03h)
4 PDO (Process Data Object) COMMUNICATION
16
4.3 PDO default mapping
Initial mapping settings
Modes of operation display (Obj. 6061h)
Padding (1 byte)
Statusword (Obj. 6041h)
Status DO 1 (Obj. 2D11h)
Status DO 2 (Obj. 2D12h)
Status DO 3 (Obj. 2D13h)
Position actual value (Obj. 6064h)
Velocity actual value (Obj. 606Ch)
Following error actual value (Obj. 60F4h)
Torque actual value (Obj. 6077h)
Modes of operation (Obj. 6060h)
Padding (1 byte)
Statusword (Obj. 6041h)
Status DO 1 (Obj. 2D11h)
Status DO 2 (Obj. 2D12h)
Status DO 3 (Obj. 2D13h)
Status DO 5 (Obj. 2D15h)
Status DO 7 (Obj. 2D17h)
Position actual value (Obj. 6064h)
Velocity actual value (Obj. 606Ch)
Following error actual value (Obj. 60F4h)
Torque actual value (Obj. 6077h)
M code actual value (Obj. 2D6Ah)
Padding (1 byte)
Point demand value (Obj. 2D68h)
Point actual value (Obj. 2D69h)
Unassigned
Unassigned
Applications expected to be used for initial mapping
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Homing mode (hm)
This initial mapping is for an application in which the modes above are
switched and used.
This mapping is also for an application in which the following modes
are switched and used.
• Profile position mode (pp)
• Profile velocity mode (pv)
• Profile torque mode (tq)
• Homing mode (hm)
Map size: 24 bytes
Point table mode (pt)
JOG operation mode (jg)
Homing mode (hm)
This initial mapping is for an application in which the modes above are
switched and used.
Map size: 34 bytes
Advertisement
Table of Contents
