Page History
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Sub-index | Description | Value | Access | PDO Mapping | |||||
|---|---|---|---|---|---|---|---|---|---|
| 0x00 | Number of entries | 0x07 | ro | No | |||||
0x01 | Reserved | 0x00000010 | ro | No | 0x02 | Controlword mapping | 0x60400010 | ro | No |
| 0x030x02 | Target position mapping | 0x607A0020 | ro | No | |||||
| 0x040x03 | Target velocity mapping | 0x60FF0020 | ro | No | |||||
| 0x050x04 | Digital outputs mapping | 0x60FE0010 | ro | No | |||||
| 0x060x05 | Mode of operation mapping | Reserved0x60600008 | ro | No | 0x07 | 0x00000008 | ro | No |
0x1601: Receive PDO mapping parameter - CSP mode
Sub-index | Description | Value | Access | PDO Mapping | |||||
|---|---|---|---|---|---|---|---|---|---|
| 0x00 | Number of entries | 0x04 | ro | No | |||||
| 0x01 | Reserved | 0x00000010 | ro | No | 0x02 | Controlword mapping | 0x60400010 | ro | No |
| 0x030x02 | Target position mapping | 0x607A0020 | ro | No | |||||
| 0x040x03 | Digital outputs mapping | 0x60FE0010 | ro | No |
...
Sub-index | Description | Value | Access | PDO Mapping |
|---|---|---|---|---|
| 0x00 | Number of entries | 0x04 | ro | No |
| 0x01Reserved | Controlword mapping | 0x604000100x00000010 | ro | No |
| 0x02 | Target velocity mapping | 0x60FF0020 | ro | No |
| 0x03 | Digital outputs mapping | 0x60FE0010 | ro | No |
0x1603: Receive PDO mapping parameter - Profile mode
Sub-index | Description | Value | Access | PDO Mapping | |||
|---|---|---|---|---|---|---|---|
| 0x00 | Number of entries | 0x06 | ro | No | |||
| 0x01 | Controlword mapping | 0x60400010 | ro | No | |||
| 0x03 | Target Position mapping | 0x607A0020 | ro | No | |||
| 0x04 | Target Velocity velocity mapping | 0x60FF0020 | ro | No | |||
| 0x05 | Profile Velocity mapping | 0x60810020 | ro | No | |||
| 0x06 | Profile Acceleration mapping | 0x60830020 | 0x04 | Digital outputs mapping | 0x60FE0010 | ro | No |
0x1A00: Transmit PDO mapping parameter - Dynamic switching of modes
Sub-index | Description | Value | Access | PDO Mapping | |||||
|---|---|---|---|---|---|---|---|---|---|
| 0x00 | Number of entries | 0x0B | ro | No | |||||
| 0x01 | Reserved | 0x00000010 | ro | No | 0x02 | Statusword mapping | 0x60410010 | ro | No |
| 0x030x02 | Position actual value mapping | 0x60640020 | ro | No | |||||
| 0x040x03 | Velocity actual value mapping | 0x606C0020 | ro | No | |||||
| 0x050x04 | Torque actual value mapping | 0x60770020 | ro | No | |||||
| 0x060x05 | Digital input mapping | 0x60FD0010 | ro | No | |||||
| 0x070x06 | Error code mapping | 0x603F0010 | ro | No | |||||
| 0x080x07 | Temperature-C mapping | 0x23010010 | ro | No | |||||
| 0x090x08 | DC voltage mapping | 0x60790010 | ro | No | |||||
| 0x0A0x09 | Modes of operation display mapping | 0x0B0x60610008 | ro | No | Reserved | 0x00000008 | ro | No |
0x1A01: Transmit PDO mapping parameter - CSP mode
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Sub-index | Description | Value | Access | PDO Mapping | |||||
|---|---|---|---|---|---|---|---|---|---|
| 0x00 | Number of entries | 0x07 | ro | No | |||||
| 0x01 | Reserved | 0x00000010 | ro | No | 0x02 | Statusword mapping | 0x60410010 | ro | No |
| 0x030x02 | Position actual value mapping | 0x60640020 | ro | No | |||||
| 0x040x03 | Velocity actual value mapping | 0x606C0020 | ro | No | |||||
| 0x050x04 | Torque actual value mapping | 0x60770020 | ro | No | |||||
| 0x060x05 | Digital input mapping | 0x60FD0010 | ro | No | |||||
| 0x070x06 | Error code mapping | 0x603F0010 | ro | No |
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Sub-index | Description | Value | Access | PDO Mapping |
|---|---|---|---|---|
| 0x00 | Number of entries | 0x07 | ro | No |
| 0x01Reserved | Statusword mapping | 0x000000100x60410010 | ro | No |
| 0x02 | Position actual value mapping | 0x60640020 | ro | No |
| 0x03 | Velocity actual value mapping | 0x606C0020 | ro | No |
| 0x04 | Torque actual value mapping | 0x60770020 | ro | No |
| 0x05 | Digital input mapping | 0x60FD0010 | ro | No |
| 0x06 | Error code mapping | 0x603F0010 | ro | No |
0x1A03: Transmit PDO mapping parameter - Profile mode
Sub-index | Description | Value | Access | PDO Mapping |
|---|---|---|---|---|
| 0x00 | Number of entries | 0x0B | ro | No |
| 0x01 | Statusword mapping | 0x60410010 | ro | No |
| 0x030x02 | Position actual value mapping | 0x60640020 | ro | No |
| 0x040x03 | Velocity actual value mapping | 0x606C0020 | ro | No |
| 0x050x04 | Torque actual value mapping | 0x60770020 | ro | No |
| 0x060x05 | Digital input mapping | 0x60FD0010 | ro | No |
| 0x070x06 | Error code mapping | 0x603F0010 | ro | No |
| 0x07 | Temperature-C mapping | 0x23010010 | ro | No |
| 0x08 | DC voltage mapping | 0x60790010 | ro | No |
CiA402 Drive Profile Objects
| Anchor | ||||
|---|---|---|---|---|
|
0x603F: Error Code
| Anchor | ||||
|---|---|---|---|---|
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