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Communication via CAN bus
9.13.2.30 1A03h: 4th Transmit PDO Mapping Parameter
Object 1A03h determines the objects that are mapped on the fourth Transmit PDO (TPDO4).
Sub-index
Description
Access
PDO mapping
Data type
Default
EEPROM
00h
Number of mapped application objects in TPDO 4
read-only
no
Unsigned8
2
no
Sub-index
Description
Access
PDO mapping
Data type
Default
EEPROM
01h
first object mapped
read-only
no
Unsigned32
60410010h
no
Sub-index
Description
Access
PDO mapping
Data type
Default
EEPROM
02h
second object mapped
read-only
no
Unsigned32
606C0020h
no
Format description sub-index 01h – 02h:
Bit 31 - 16
Bit 15 - 8
Bit 7 - 0
index 16 bits
sub-index 8 bits
8 bits object length
Data description:
The object cannot be changed (static mapping).
Mapped objects:
 Object 6041h (status word) in bytes 0 and 1.
 Object 606Ch (velocity actual value) in bytes 2 to 5.
AG06
Date: 12.11.2015
Art. No. 85674
Mod. status 396/15
Page 93 of 114