Overview 07/06 Danaher Motion
14 Initial Release M-S2-021-11
Receive PDOs (RXPDO)
Four Receive PDOs can be configured in the servo amplifier:
— configuration of the communication (SDOs 1400-1403
h
)
— configuration of the PDO-contents (mapping, SDOs 1600-1603
h
)
RXPDO 1
Subindex Value Meaning
0 1 One PDO-mapping entry
1 60 40 00 10 Controlword
RXPDO 2
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Controlword
2 60 60 00 08 Modes of Operation
RXPDO 3
Subindex
Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Controlword
2 60 7A 00 20 Target Position (Mode PP)
RXPDO 4
Subindex
Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Controlword
2 60 FF 00 20 Target Velocity (Mode PV)
Transmit PDOs (TXPDO)
Four Transmit PDOs can be configured in the servo amplifier:
— configuration of the communication (SDOs 1800-1803
h
)
— configuration of the PDO-contents (mapping, SDOs 1A00-1A03
h
)
TXPDO 1
Subindex Value Meaning
0 1 One PDO-mapping entry
1 60 41 00 10 Statusword
TXPDO 2
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 41 00 10 Statusword
2 60 61 00 08 Modes of Operation display
TXPDO 3
Subindex
Value Meaning
0 2 Two PDO-mapping entries
1 60 41 00 10 Statusword
2 60 64 00 20 Position actual value
TXPDO 4
Subindex
Value Meaning
0 2 Two PDO-mapping entries
1 60 41 00 10 Statusword
2 60 6C 00 20 Velocity actual value
