Emerson SI-EtherCAT User Manual page 34

6.3.3 TxPDO mappings
Objects with the indices from 0x1A00 to 0x1BFF specify transmit PDO mappings. The following
mappings from CiA402 are included as standard.
Table 6-13 TxPDO mappings
PDO number
1
2
3
5
6
The PDO mapping objects are defined below. Each mapping object has the maximum number of
sub-indices (each representing an object mapped to a PDO) defined in the XML configuration file.
Table 6-14 TxPDO mapping 1
0x1A00 Transmit PDO mapping 1
Sub-index 0: Number of mapped objects
Access: RW
Default: 1
Description: The number of mapped objects in the PDO
Sub-index 1: 1st mapped object
Access: RW
0x60410010 - the CiA402 status word
Default:
(0x6041)
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit parameter would have a length of
Description:
32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
34
Mapping object index
0x6041
0x6041
0x6061
0x6041
0x6064
0x6041
0x6077
0x6041
0x6044
Range: 0 to 12
Range: 0 to 0xFFFFFFFF Size: 4 bytes
Mapping object name
statusword
statusword
modes_of_operation_display
statusword
position_actual_value
statusword
torque_actual_value
statusword
vl_velocity_actual_value
Size: 1 byte
Type: USINT
Type: UDINT
Unit: N/A
Unit: N/A
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