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7.10 Structure of the mapping parameter
Sub-index 0 contains the number of valid object entries.
The following entries contain the information of the mapped application objects. The
object describes the content of the PDO by their index, sub-index and length in bit:
31
MSB
7.10.1 Object 1601h: 2
Depending on the adjustment in "Object 1C12h: Sync Manager Channel 2 (process
data output)" the defined process data in object 0x1601 can be received or not, see
page 102.
About the Receive-Process-Data-Object (0x1601) the objects 0x5004 and 0x5005 are
mapped by default and can not be changed.
Index
Name
Object code
Data type
Category
PDO mapping
Default configuration:
Sub-Index
0
1
2
LSB
Byte 0
7
2
Printed in the Federal Republic of Germany
06/20/2017
Index
nd
Receive PDO Mapping
0x1601
RxPDO 1
RECORD
PDO_MAPPING
Mandatory for each supported RxPDO
no
Description
Number of entries
Adjustment position
Adjustment control
Adjustment position
Byte 1
0
15
8
-2
2
-2
TR - ECE - BA - DGB - 0127 - 04
16
15
Sub-index
Value
2
50040020h
50050008h
Byte 2
Byte 3
23
16
31
24
2
-2
2
-2
8
7
Length in bit
LSB
Data type
Access
UNSIGNED8
ro
UNSIGNED32
rw
UNSIGNED8
rw
MSB
Adjustment control
Byte 0
7
0
2
-2
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