Emerson SI-EtherCAT User Manual page 35

Table 6-15 TxPDO mapping 2
0x1A01 Transmit PDO mapping 2
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
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.
Sub-index 2: 2nd mapped object
Access: RW
0x60610008 - the CiA402 modes of
Default:
operation display object (0x6061)
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.
Table 6-16 Tx PDO mapping 3
0x1A02 Transmit 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
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.
Sub-index 2: 2nd mapped object
Access: RW
0x60640020 - the CiA402 actual
Default:
position (0x6064)
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.
SI-EtherCAT User Guide
Issue Number: 2
Range: 0 to 12
Range: 0 to 0xFFFFFFFF Size: 4 bytes
Range: 0 to 0xFFFFFFFF Size: 4 bytes
Range: 0 to 12
Range: 0 to 0xFFFFFFFF Size: 4 bytes
Range: 0 to 0xFFFFFFFF Size: 4 bytes
Size: 1 byte
Type: USINT
Type: UDINT
Type: UDINT
Size: 1 byte
Type: USINT
Type: UDINT
Type: UDINT
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A
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