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PDO Map
PDO Map
object
object
index
Sub-index
01h
RXPDO1
02h
03h
(1600h)
01h
RXPDO2
02h
(1601h)
03h
01h
RXPDO3
02h
(1602h)
03h
01h
02h
03h
RXPDO4
04h
(1603h)
05h
06h
07h
01h
02h
03h
TXPDO1
04h
(1A00h)
05h
06h
07h
TXPDO2
(1A01h)
Table 7.3 Default PDO mapping
Mapping
content
Index
60400010h
607A0020h
60B80020h
60400010h
6040h
60FF0020h
60FFh
60B20010h
60B2h
60400010h
6040h
60710010h
6071h
60870020h
6084h
60400010h
6040h
60980008h
6098h
60990120h
6099h
60990220h
6099h
609A0020h
609Ah
607C0020h
607Ch
60600008h
6060h
603F0000h
60410000h
60610000h
60640000h
60B90020h
60BA0020h
60FD0020h
No default mapping
User manual of EL8-EC***F AC Servo
Mapped Object
Sub-index
Bit length
00h
10h(16 bit)
00h
10h(16 bit)
00h
00h
10h(16 bit)
00h
20h(32 bit)
00h
10h(16 bit)
00h
10h(16 bit)
00h
10h(16 bit)
00h
20h(32 bit)
00h
10h(16 bit)
00h
08h(8 bit)
01h
20h(32 bit)
02h
20h(32 bit)
00h
20h(32 bit)
00h
20h(32 bit)
00h
08h(8 bit)
Description
01h
02h
03h
Control word
Target velocity
Torque feedforward
Control word
Target torque
Profile deceleration
Control word
Homing method
High homing
velocity
Low
homing
velocity
Homing
acceleration
Homing position
offset
Operation mode
296
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