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SERVICE
(2) 2nd Transmit PDO (PDO No.6)
<format>
Bit7
Bit6
Switched
Byte0
On
Disabled
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
*
Forward rotation : vl_control_effort > 0
Reverse rotation : vl_control_effort < 0
<Mapping parameter>
Index Sub Index
00h
01h
02h
1805h
03h
04h
05h
00h
1A05h
01h
02h
46
Bit5
Bit4
Bit3
Quick
Voltage
Fault
Stop
Disabled
Internal
Limit
Active
vl_control_effort (L)
vl_control_effort (H)
(blank)
(blank)
(blank)
(blank)
Description
number of entries
COB-ID used by PDO
transmission type
inhibit time
Reserved
event timer
number of mapped objects
status word
vl_control_effort
Bit2
Bit1
Bit0
Operation
Switched
Ready to
Enabled
On
Switch On
Target
Reached Remote
Read/Write
ro
rw
80000280h + Node-ID
rw
rw
Without (error response)
rw
ro
ro
ro
(Index 6041h-00h) status word
(Index 6044h-00h) vl_control_effort
Default
5
255
0
0
2
60410010h
60440010h
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