1601h Receive PDO 2 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive (RX-PDO 2). The PDO was previously configured via 1401h Receive PDO 2 Communication Parameter. See chapter Process Data Object (PDO). 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 Number Of Entries Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value 02h 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 60810020h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h 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.
1601h Receive PDO 2 Mapping Parameter Function This object contains the mapping parameters for PDOs that the controller can receive (RX-PDO 2). The PDO was previously configured via 1401h Receive PDO 2 Communication Parameter. See chapter Process Data Object (PDO). 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 Number Of Entries Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value 02h 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 60810020h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h 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.
Function This object contains the mapping parameters for PDOs that the controller can receive (RX-PDO 2). The PDO was previously configured via 1401h Receive PDO 2 Communication Parameter. See chapter Process Data Object (PDO).
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 Number Of Entries Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value 02h 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 60810020h Subindex 03h Name 3rd Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 04h Name 4th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h Subindex 05h Name 5th Object To Be Mapped Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value 00000000h 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.
