Danfoss MCA 123 POWERLINK Operating Instructions Manual page 30

Communication Profile Area
6.2.16 1800h
PDO_TxCommParam_16h_REC
This object describes attributes of PDO Communication for
RPDO. Object indices describe the Node ID and PDO
Mapping Version. Mapping Version must be set by config-
uration tool depending on PDO mapping. Access is read/
write. Mapping version 0 indicates that no mapping
version is available.
Index, sub-index
1400h 0
1400h 1
1400h 2
Table 6.16 1800h PDO_TxCommParam_16h_REC
6.2.17 1A00h
6 6
PDO_TxMappParam_00h_AU64
This objects indices describe mapping of object contained
in RPDO payload to object dictionary entries.
Index, sub-index
1A00h0
1A00h1
1A00h2
1A00h3
1A00h4
1A00h5
1A00h6
1A00h7
1A00h8
1A00h9
1A00h10
Table 6.17 1A00h PDO_TxMappParam_00h_AU64
For every PDO channel up to ten objects is be mapped.
The offset related to the start address of the PDO payload
and the length of data is provided for every mapped
object.
Octet offset Name
0-1 Index
2 Sub-index Sub-index of the object to be mapped
3 Reserved
4-5 Offset
6-7 Length
Table 6.18 Description of Octet Offset
Table 6.19 shows.
28
MCA 123 POWERLINK Operating Instructions
Meaning
Number of sub-index supported
NodeID_U8
MappingVersion_U8
Meaning
Number of sub-index supported
12-22 Process Data Config Read, [0] Index
12-22 Process Data Config Read, [1] Index
12-22 Process Data Config Read, [2] Index
12-22 Process Data Config Read, [3] Index
12-22 Process Data Config Read, [4] Index
12-22 Process Data Config Read, [5] Index
12-22 Process Data Config Read, [6] Index
12-22 Process Data Config Read, [7] Index
12-22 Process Data Config Read, [8] Index
12-22 Process Data Config Read, [9] Index
Description
Index of the object to be mapped
Offset related to start of PDO payload
(Bit count)
Length of the mapped object (Bit count)
MG92C102 - VLT
MSB
Bits 63 .. 48
Name Length
Encoding UNSIGNED16 UNSIGNED16 -
LSB
15 .. 0
Index
UNSIGNED16
Table 6.19 Internal Mapping of PDO Mapping Entry
6.2.18 1C0Ah DLL_CNCollision_REC
This object contains information regarding collisions on the
network.
Index, sub-index
1C0Ah 0
1C0Ah 1
1C0Ah 2
1C0Ah 3
Table 6.20 1C0Ah DLL_CNCollision_REC
6.2.19 1C0Bh DLL_CNLossSoC_REC
This object contains information regarding loss of SoC on
the network.
Index, sub-index Meaning
1C0Bh 0 Number of entries
1C0Bh 1 CumulativeCnt_U32, [0] 12-68 Cumulative
Counters
1C0Bh 2 ThresholdCnt_U32, [0] 12-67 Threshold Counters
1C0Bh 3 Threshold_U32, [0] 12-66 Threshold
Table 6.21 1C0Bh DLL_CNLossSoC_REC
6.2.20 1C0Fh DLL_CNCRCError_REC.
This object contains information regarding "CRC Errors" on
the network. CumulativeCnt_U32 increases with one each
time a CRC error occurs. CumulativeCnt_U32 decrements
with one for each cycle without an error. When Cumula-
tiveCnt_U32 is equal or larger than ThresholdCnt_U32, the
drive issues Warning 34 in the display.
Index, sub-index Meaning
1C0Fh 0 Number of entries
1C0Fh 1 CumulativeCnt_U32, [5] 12-68 Cumulative
Counters
1C0Fh 2 ThresholdCnt_U32, [5] 12-67 Threshold Counters
1C0Fh 3 Threshold_U32, [5] 12-66 Threshold
Table 6.22 1C0Fh DLL_CNCRCError_REC.
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47 .. 32 31 .. 24 23 .. 16
Offset Reserved Sub-index
UNSIGNED8
Meaning
Number of entries
CumulativeCnt_U32
ThresholdCnt_U32
Threshold_U32