# Rewrite the PDOs Mapping in Rotator Controller

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#### Details

• Type: Story
• Status: To Do
• Resolution: Unresolved
• Fix Version/s: None
• Component/s:
• Labels:
• Team:
Telescope and Site
• Urgent?:
No

#### Description

Rewrite the PDOs mapping in rotator controller. Right now, the MOOG developers used the 0x2240 instead of 0x6064 in the fixed PDO: 0x1B00 and 0x1B40, which is not allowed. However, there is the servo frequency requirement in the Simulink model calculation, and we do need to use the 0x2240 for the drive configuration. Therefore, we could not use the non-fixed PODs instead as an easy solution. Instead, to fix this, the overhaul of the PDOs mapping (use fixed + non-fixed PDOs with the correct PDO entries) is required.

This ticket should try to fix the 0x1702 as well.

#### Activity

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#### People

Assignee:
Te-Wei Tsai
Reporter:
Te-Wei Tsai
Watchers:
Te-Wei Tsai