Emerson SI-EtherCAT User Manual page 33

Table 6-11 RxPDO mapping 6
0x1605 Receive PDO mapping 6
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 word
Default:
(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
0x60420010 - the CiA402 vl target
Default:
velocity (0x6042)
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 6-12 RxPDO mapping 8
0x1607 Receive PDO mapping 8
Sub-index 0: Number of mapped objects
Access: RW
Default: 1
Description: The number of mapped objects in this PDO.
Sub-index 1: 1st mapped object
Access: RW
0x20062A10 - Drive control word
Default:
(Pr 06.042)
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 is required, 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).
SI-EtherCAT User Guide
Issue Number: 2
Range: 0 to 12
Range: 0 to 0xFFFFFFFF
Range: 0 to 0xFFFFFFFF
Range: 0 to 12
Range: 0 to 0xFFFFFFFF
Size: 1 byte
Type: USINT
Size: 4 bytes
Type: UDINT
Size: 4 bytes
Type: UDINT
Size: 1 byte
Type: USINT
Size: 4 bytes
Type: UDINT
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A
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