The drives support the static standard PDO mapping of CANopen specification DSP402 plus extensions as indicated in the column "Comment". Note: Objects 6074 (torque demand value) and 6077 (torque actual value) display currents rather than torque, object 6071 (target torque) is not supported.
Transmit PDO:
| TPDO No. | Object Index | Object Name | Bytes | Comment |
| 1 |
6041 60FD:1 |
statusword
digital input signals |
2
4 |
digital input signals is extension to DSP402 |
| 2 |
6041 6061 |
statusword
modes of operation display |
2
1 |
|
| 3 |
6041 6064 |
statusword
position actual value |
2
4 |
|
| 4 |
6041 606C 606B |
statusword
velocity actual value
velocity demand value |
2
4
2 |
velocity demand value is extension to DSP402, data length must be shortened to 2bytes |
| 5 |
6041 6077 6074 |
statusword
torque actual value
torque demand value |
2
2
2 |
torque demand value is extension to DSP402 |
Receive PDO:
| RPDO No. | Object Index | Object Name | Bytes | Comment |
| 1 |
6040 60FE:1 |
controlword
digital output signals |
2
4 |
digital ouput signals is extension to DSP402 |
| 2 |
6040 6060 |
controlword
modes of operation |
2
1 |
|
| 3 |
6040 607A |
controlword
target position |
2
4 |
|
| 4 |
6040 60FF |
controlword
target velocity |
2
4 |
|
| 5 |
6040 6071 |
controlword
target torque |
2
2 |
|
