Delta ASDA-A3 Series User Manual page 998

ASDA-A3
The format of this object is as follows:
Bit 0 - Bit 7
Bit 8 - Bit 15
Bit 16 - Bit 31
Example:
To set the three PDOs, OD 6040h, OD 607Ah, and OD 6060h, in the first group of PDO,
the setting is as follows:
Mapping
parameter
setting for
RxPDO
OD 1600h sub0
OD 1600h sub1
OD 1600h sub2
OD 1600h sub3
Note
Objects 1800h - 1803h: Transmit PDO communication parameter
Index
Name
Object code
Data type
Access
Sub-index
Description
Data type
Access
PDO mapping
Setting range
Default
Bit
Data
3
6040h 00h 10h
607Ah 00h 20h
6060h 00h 08h
The total length is 38h (56-bit) which meets the specification of less than
64-bit.
1800h, 1801h, 1802h, 1803h
Transmit PDO communication parameter
RECORD
PDO CommPar
RW
0
Largest sub-index supported
UNSIGNED8
RO
No
5
5
Function
Object data length
Object sub-index
Object index
Description
Set 3 PDO mappings.
Mapping Controlword (6040h);
data length is 16-bit.
Mapping target position (607Ah);
data length is 32-bit.
Mapping mode (6060h);
data length is 8-bit.
CANopen Mode
12
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