User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
32 / 145
3.1.19 Objects 1600
h
– 1603
h
: Receive PDO Mapping Parameter
These objects contain the mapping parameters for the RPDOs the device is able to receive. The sub-index
00
h
contains the number of valid entries within the mapping record. This number of entries is also the
number of the application variables which shall be received with the corresponding RPDO. The sub-indices
from 01
h
to the number of entries contain the information about the mapped application variables. These
entries describe the PDO contents by their index, sub-index and length.
The RPDOs defined by objects 1600
h
– 1603
h
(RPDO 1. . . 3) are normally used for motor #0. For the other
motors, the following RPDOs are used:
• RPDO 65. . . 68 (objects 1640
h
– 1643
h
) for motor #1.
• RPDO 129. . . 132 (objects 1680
h
– 1683
h
) for motor #2.
Object Description
Index Name Object Type Data Type
1600
h
– 1603
h
Receive PDO mapping parameter RECORD PDO Mapping
1600
h
RPDO 1 RECORD PDO Mapping
1601
h
RPDO 2 RECORD PDO Mapping
1602
h
RPDO 3 RECORD PDO Mapping
1603
h
RPDO 4 RECORD PDO Mapping
Table 48: Object Description (1600
h
)
Entry Description
Sub-index Description Access Value Range Default Value
00
h
Number of
mapped appli-
cation objects in
PDO
rw 0. . . 3 Index 1600
h
: 1
Index 1601
h
: 2
Index 1602
h
: 2
Index 1603
h
: 2
01
h
Mapping entry 1 rw UNSIGNED32 Index 1600
h
: 60400010
h
Index 1601
h
: 60400010
h
Index 1602
h
: 60400010
h
Index 1603
h
: 60400010
h
02
h
Mapping entry 2 rw UNSIGNED32 Index 1600
h
: 0
Index 1601
h
: 60600008
h
Index 1602
h
: 607A0020
h
Index 1603
h
: 60FF0020
h
03
h
Mapping entry 3 rw UNSIGNED32 Index 1600
h
: 0
h
Index 1601
h
: 0
h
Index 1602
h
: 0
h
Index 1603
h
: 0
h
Table 49: Entry Description (1600
h
)
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com