Pdo Mapping Objects - Omron 3G3AX-MX2-ECT User Manual

Diagnosis history details
Meaning
Error code
Error flag
(Reserved)
5-5-2

PDO Mapping Objects

Indexes 1600 to 17FF hex are used for receive PDO mapping and indexes 1A00 to 1BFF hex are used
for transmit PDO mapping. Sub-indexes after sub-index 1 provide information about the application
object being mapped.
31
MSB
Bit 0 to 7
Bit 8 to 5
Bit 16 to 31 : Index of the mapped object.
1600 to 1604 hex 1st to 5th receive PDO mapping
Sub-index 0: Number of objects
Setting range: -
Size: 1 byte (U8)
Sub-index 1: 1st Output Object to be mapped
Setting range: -
Size: 4 bytes (U32)
Sub-index 2: 2nd Output Object to be mapped
Setting range: -
Size: 4 bytes (U32)
• The PDO mapping when freely allocated objects are used.
• Objects can be allocated up to a total bit length of 32 bits.
1700 hex 257th fixed receive PDO mapping
Sub-index 0: Number of objects
Setting range: 
Size: 1 byte (U8)
Sub-index 1: 1st Output Object to be mapped
Setting range: 
Size: 4 bytes (U32)
Sub-index 2: 2nd Output Object to be mapped
Setting range: 
Size: 4 bytes (U32)
• The PDO mapping when Velocity mode is used.
• The following objects are mapped.
• Controlword (6040 hex), vl target velocity (6042 hex)
EtherCAT Communication Unit USER'S MANUAL (3G3AX-MX2-ECT)
Size
4 bytes (U32) The upper byte is the error code that is defined with CiA301 and CiA402. The
lower 2 bytes are the code type and are fixed at E800 hex.
2 bytes (U16) Gives the error type.
Bit 1: Warning
Bit 2: Error
Other bits: Reserved
17 bytes The reserved area.
16
Index
: Bit length of the mapped object. (For example, for 32 bits, 20 hex is given.)
: Sub-index of the mapped object.
Unit: -
Access: RW
Unit: -
Access: RW
Unit: -
Access: RW
Unit: 
Access: RO
Unit: 
Access: RO
Unit: 
Access: RO
Details
15 8 7
Sub-index Bit length
Default setting: 0
PDO map: Not possible
Default setting: 00000000 hex
PDO map: Not possible
Default setting: 00000000 hex
PDO map: Not possible
Default setting: 2
PDO map: Not possible
Default setting: 60400010 hex
PDO map: Not possible
Default setting: 60420010 hex
PDO map: Not possible
5 CiA402 Drive Profile
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LSB
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