Standard RxPDO mapped Objects¶
| Index | Name | Bit Length | Bit Offset |
|---|---|---|---|
| 0x6040 | Controlword | 16 | 0 |
| 0x6060 | Op Mode | 8 | 16 |
| 0x6071 | Target Torque | 16 | 24 |
| 0x607A | Target Position | 32 | 40 |
| 0x60FF | Target Velocity | 32 | 72 |
| 0x60B2 | Torque offset | 16 | 104 |
| 0x2701 | Tuning command | 32 | 120 |
| 0x2601 | Digital Output 1 | 1 | 152 |
| 0x2602 | Digital Output 2 | 1 | 153 |
| 0x2603 | Digital Output 3 | 1 | 154 |
| 0x2604 | Digital Output 4 | 1 | 155 |
| 0x2703 | User MOSI | 32 | 156 |
