NP5 SPI Online Manual

1601h Receive PDO 2 Mapping Parameter

Function

This object contains the mapping parameters for PDOs that the controller can receive (RX-PDO 2).

Object description

Index 1601h
Object name Receive PDO 2 Mapping Parameter
Object Code RECORD
Data type PDO_MAPPING
Savable yes, category: communication
Firmware version FIR-v1426
Change history

Firmware version FIR-v1426: "Heading" entry changed from "1601h Positioning Control" to "1601h Receive PDO 2 Mapping Parameter".

Firmware version FIR-v1426: "Object Name" entry changed from "Positioning Control" to "Receive PDO 2 Mapping Parameter".

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read / write
PDO mapping no
Allowed values
Preset value 05h
Subindex 01h
Name 1st Object To Be Mapped
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 607A0020h
Subindex 02h
Name 2nd Object To Be Mapped
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 60420010h
Subindex 03h
Name 3rd Object To Be Mapped
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 60FF0020h
Subindex 04h
Name 4th Object To Be Mapped
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 60710010h
Subindex 05h
Name 5th Object To Be Mapped
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 60980008h
Subindex 06h
Name 6th Object To Be Mapped
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 07h
Name 7th Object To Be Mapped
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 08h
Name 8th Object To Be Mapped
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h

Description

Each subindex (1–8) describes a different mapped object.

A mapping entry consists of four bytes, which are structured according to the following graphic.

Index [16]
This contains the index of the object to be mapped.
Subindex [8]
This contains the subindex of the object to be mapped.
Length [8]
This contains the length of the object to be mapped in units of bits.
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