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4.5
Objects that require mapping
Objects required for each mode are shown in the following table.
RxPDO
: PDO mapping required : PDO mapping recommended : PDO mapping not required
Object name (Index)
Controlword (6040h)
Control DI 1 (2D01h) Gain switching
Control DI 2 (2D02h) Proportional control
Control DI 3 (2D03h)
Target position (607Ah)
Target velocity (60FFh)
Target torque (6071h)
*1
Profile velocity (6081h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Torque slope (6087h)
Velocity limit value (2D20h)
Target point table (2D60h)
*1 Available on servo amplifiers with firmware version B2 or later.
*2 Available on servo amplifiers with firmware version B8 or later.
TxPDO
: PDO mapping required : PDO mapping recommended : PDO mapping not required
Object name (Index)
Statusword (6041h)
Status DO 1 (2D11h)
Status DO 2 (2D12h)
Status DO 3 (2D13h)
Status DO 5 (2D15h)
Status DO 7 (2D17h)
Position actual value (6064h)
Following error actual value (60F4h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Point actual value (2D69h)
M code actual value (2D6Ah)
Point demand value (2D68h)
*1 Available on servo amplifiers with firmware version B2 or later.
*2 Available on servo amplifiers with firmware version B8 or later.
4 PDO (Process Data Object) COMMUNICATION
18
4.5 Objects that require mapping
*2
*2
*2
*2
Mode
csp
csv
cst
pp
Mode
csp
csv
cst
pp
*1
*1
*1
*2
pv
tq
pt
*1
*1
*1
*2
pv
tq
pt
*2
jg
hm
*2
jg
hm
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