User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 23
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3.1.21 Objects 1A00
h
-1A05
h
: Transmit PDO Mapping Parameter
These objects contain the mapping for the PDOs the device is able to transmit.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1A00
h
-1A05
h
Transmit PDO mapping
parameter
RECORD
PDO mapping
1A00
h
TPDO 1: transmit PDO
mapping parameter
RECORD
PDO mapping
1A01
h
TPDO 2: transmit PDO
mapping parameter
RECORD
PDO mapping
1A02
h
TPDO 3: transmit PDO
mapping parameter
RECORD
PDO mapping
1A03
h
TPDO 4: transmit PDO
mapping parameter
RECORD
PDO mapping
1A05
h
TPDO 6: transmit PDO
mapping parameter
RECORD
PDO mapping
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Number of mapped application
objects in PDO
rw
no
0 deactivated
Number of entries:
1… 3
Index 1A00
h
: 1
Index 1A01
h
: 2
Index 1A02
h
: 2
Index 1A03
h
: 2
Index 1A05
h
: 2
01
h
Mapping entry 1
rw
no
UNSIGNED32
Index 1A00
h
: 60410010
h
Index 1A01
h
: 60410010
h
Index 1A02
h
: 60410010
h
Index 1A03
h
: 60410010
h
Index 1A05
h
: 60410010
h
02
h
Mapping entry 2
rw
no
UNSIGNED32
Index 1A00
h
: 0
Index 1A01
h
: 60610008
h
Index 1A02
h
: 60640020
h
Index 1A03
h
: 606c0020
h
Index 1A05
h
: 60440010
h
03
h
Mapping entry 3
rw
no
UNSIGNED32
Index 1A00
h
: 0
Index 1A01
h
: 0
Index 1A02
h
: 0
Index 1A03
h
: 0
Index 1A05
h
: 0