Emerson SI-EtherCAT User Manual page 32

Table 6-9 RxPDO mapping 3
0x1602 Receive PDO mapping 3
Sub-index 0: Number of mapped objects
Access: RW
Default: 2
Description: The number of mapped objects in this PDO.
Sub-index 1: 1st mapped object
Access: RW
0x60400010 - the CiA402 control
Default:
word (0x6040)
A mapping to an object. This will have the following format:
Bits 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap).
Description:
Bits 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bits 16 to 31: Index of the mapped object (if a gap, zero).
Sub-index 2: 2nd mapped object
Access: RW
0x607A0020 - the CiA402 target
Default:
position (0x607A).
A mapping to an object with the following format:
A mapping to an object. This will have the following format:
Description:
Bits 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap).
Bits 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bits 16 to 31: Index of the mapped object (if a gap, zero).
Table 6-10 RxPDO mapping 5
0x1604 Receive PDO mapping 5
Sub-index 0: Number of mapped objects
Access: RW
Default: 2
Description: The number of mapped objects in this PDO.
Sub-index 1: 1st mapped object
Access: RW
0x60400010 - the CiA402 control
Default:
word (0x6040)
A mapping to an object. This will have the following format:
Bits 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap).
Description:
Bits 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bits 16 to 31: Index of the mapped object (if a gap, zero).
Sub-index 2: 2nd mapped object
Access: RW
0x60710010 - the CiA402 target
Default:
torque (0x6071).
A mapping to an object with the following format:
A mapping to an object. This will have the following format:
Description:
Bits 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap).
Bits 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bits 16 to 31: Index of the mapped object (if a gap, zero).
32
Range: 0 to 12
Range: 0 to
0xFFFFFFFF
Range: 0 to
0xFFFFFFFF
Range: 0 to 12
Range: 0 to 0xFFFFFFFF Size: 4 bytes
Range: 0 to 0xFFFFFFFF Size: 4 bytes
Size: 1 byte
Type: USINT
Size: 4 bytes
Type: UDINT
Size: 4 bytes
Type: UDINT
Size: 1 byte
Type: USINT
Type: UDINT
Type: UDINT
SI-EtherCAT User Guide
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A
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Issue Number: 2