Emerson SI-EtherCAT User Manual page 36

Table 6-17 TxPDO mapping 5
0x1A04 Transmit 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
0x60410010 - the CiA402 status
Default:
word (0x6041).
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
0x60770010 - the CiA402 actual
Default:
torque (0x6077)
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).
Table 6-18 TxPDO mapping 6
0x1A05 Transmit PDO mapping 6
Sub-index 0: Number of mapped objects
Access: RW
Default: 2
Description: The number of mapped objects in this PDO.
Access: RW
0x60410010 - the CiA402 status word
Default:
(0x6041).
Default: 0x60410010 - the CiA402 status word (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
0x60440010 - the CiA402 actual motor
Default:
speed (0x6044).
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.
36
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
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A
SI-EtherCAT User Guide
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