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Communication-Specific Standard Objects (CiA DS-301)
7.10.2 Object 1A00h: 1
Depending on the adjustment in "Object 1C13h: Sync Manager Channel 3 (process
data input)" the defined process data in object 0x1A00 can be transmitted or not, see
page 103.
About the Transmit-Process-Data-Object (0x1A00) maximal seven objects in arbitrary
order can be transmitted.
Index
Name
Object code
Data type
Category
PDO mapping
Supported process data objects:
Object name
Error register
Single-turn position
Multi-turn position
Time stamp
Adjustment status
Position
Speed
Work area state
Channel 1
Work area state
Channel 2
Alarms
Warnings
Default configuration:
Sub-Index
LSB
Byte 0
2
TR-Electronic GmbH 2016, All Rights Reserved
Page 100 of 143
st
Transmit PDO Mapping
0x1A00
TxPDO 1
RECORD
PDO_MAPPING
Mandatory for each supported TxPDO
no
Object Index /
Sub-Index
1001, 0
3101, 1
3101, 2
3101, 3
5006, 0
6004, 0
6030, 1
6400, 1
6400, 2
6503, 0
6505, 0
Description
0
Number of entries
1
Position
2
Adjustment status
-
3
4
-
5
-
6
-
7
-
Position
Byte 1
7
0
15
8
-2
2
-2
TR - ECE - BA - DGB - 0127 - 04
Data type /
Length in bit
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED8
UNSIGNED32
SIGNED32
UNSIGNED8
UNSIGNED8
UNSIGNED16
UNSIGNED16
Value
Data type
2
UNSIGNED8
60040020h
UNSIGNED32
50060008h
UNSIGNED8
-
-
-
-
-
Byte 2
Byte 3
23
16
31
24
2
-2
2
-2
Attribute
Page
ro
93
ro
118
ro
118
ro
118
ro
120
ro
125
ro
125
ro
126
ro
126
ro
130
ro
131
Access
rw
rw
rw
-
rw
-
rw
-
rw
-
rw
-
rw
MSB
Adjustment status
Byte 0
7
0
2
-2
Printed in the Federal Republic of Germany
06/20/2017
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