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(3) 3rd Receive PDO (PDO No.21)
<format>
Bit7
Bit6
Byte0
RT
JOG
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
<Mapping parameter>
Index Sub Index
00h
1414h
01h
02h
00h
1614h
01h
02h
Bit5
Bit4
Bit3
RL
RM
RH
RES
STOP
Set Frequency (RAM) (L)
Set Frequency (RAM) (H)
(blank)
(blank)
(blank)
(blank)
Description
number of entries
COB-ID used by PDO
transmission type
number of mapped objects
Control input command
Set Frequency (RAM)
Bit2
Bit1
Bit0
STR
STF
MRS
CS
AU
Read/Write
ro
rw
80000400h + Node-ID
rw
ro
ro
ro
SERVICE
(Index 4010h-00h)
Control input command
(Index 4012h-01h)
Set Frequency (RAM)
Default
2
255
2
40100010h
40120110h
7
43
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