Emerson SI-EtherCAT User Manual page 30

Table 6-5 Identity object
0x1018 Identity object
Sub-index 0
Access: RO
Default: 4
Description: The number of the last sub-index in this object.
Sub-index 1
Access: RO
Default: 0x000000F9 (249)
This contains the EtherCAT Technology Group vendor ID for Control Techniques
Description:
(0x000000F9).
Sub-index 2
Access: RO
Default: 0x01mmvvtt
Product code.
This contains the drive product code.
Byte0 (tt): Drive type (0 = Leroy Somer; 1 = Mentor MP; 2 = M600/M700; 3 = M100 to M400;
Description: 4 = MEV; 5 = Elevator ES)
Byte1 (vv): Drive variant/derivative (derived from Pr 11.028)
Byte2 (mm): Drive mode (derived from Pr 11.084)
Byte3 (gg): Drive generation (0 = Unidrive SP; 1 = Unidrive M)
Sub-index 3
Access: RO
Default: Derived from Pr S.00.002
Description: Module firmware version in the format major.minor.version.build
Sub-index 4
Access: RO
Default: 0
Description: A value of zero will be returned rather than the module serial number
6.3.2 RxPDO mappings
Objects with indices from 0x1600 to 0x17FF specify receive PDO mappings. The mappings from
CiA402 are included as standard (the PDO mappings will have the following default values).
Table 6-6 RxPDO mappings
PDO No.
1
2
3
5
6
The RxPDO mapping objects are defined in the following tables. Each mapping object has the
maximum number of sub-indices (each representing an object mapped to a PDO) defined in the
XML configuration file (specified as "CF" in the following descriptions).
30
Range: N/A
Range: N/A
Range: N/A
Range: N/A
Range: N/A
Mapped object indices
0x6040
0x6040
0x6060
0x6040
0x607A
0x6040
0x6071
0x6040
0x6042
Size: 1 byte
Type: USINT
Size: 4 bytes
Type: UDINT
Size: 4 bytes
Type: UDINT
Size: 4 bytes
Type: UDINT
Size: 4 bytes
Type: UDINT
Mapped default object names
controlword
controlword
modes_of_operation
controlword
target_position
controlword
target_torque
controlword
vl_target_velocity
SI-EtherCAT User Guide
Unit: N/A
Unit: N/A
Unit: N/A
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Unit: N/A
Issue Number: 2