CANopen Interface for SG5 and SG7

CANopen Interface Manual

5.1.2 Default Mapping of the Transmit PDOs

TxPDO 1

Status Word

State Var

Actual Position

TxPDO 2

Demand Position

Demand Current

TxPDO 3

Warn Word

Logged Error Code

A maximum of 4 parameters with a total maximum length of 32 Bit can be mapped by UPID

TxPDO 4

A maximum of 4 parameters with a total maximum length of 64 Bit can be mapped by UPID

Length

[16Bit]

[16Bit]

[32Bit]

Length

[32Bit]

[32Bit]

Length

[16Bit]

[16Bit]

[32Bit]

Length

[64Bit]

If the application requires it, the mapping can be completely changed by the PDO Mapping parameter settings. Many applications do not require to use all resources.

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