0X1600/N, 0X1601/N, 0X1602/N, Rxpdo Mapping Parameter - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

12.2.9 0x1600/n, 0x1601/n, 0x1602/n,
RxPDO Mapping Parameter
Index Sub-index
0x1600 0
0x1601
0x1602
1
2
3
4
5
6
7
8
RxPDO Mapping parameters:
0x1600/n RxPDO1
0x1601/n RxPDO2
0x1602/n RxPDO3
0x1600/0 = 0
0x1600/0 = 1 ... 8 = 1 ... 8 objects mapped
Mapping entry:
High byte
Examples:
Mapping of
RxPDO1:
Mapping of
object in RxPDO1:
Refer to chapter 12.1 for a tabular overview of all objects and their corresponding
data types.
Default mapping
RxPDO1
RxPDO2
RxPDO3
07/13
Meaning
Number of mapped objects
st
1 mapped obj.
nd
2 mapped obj.
rd
3 mapped obj.
th
4 mapped obj.
th
5 mapped obj.
th
6 mapped obj.
th
7 mapped obj.
th
8 mapped obj.
= no objects mapped
MSB
Object index
Low byte
0x6040/0 Control word
0x1600/1 = 0x60400010
interpolation data record 1
0x60C1/1
0x1600/2 = 0x60C10120
0x1600/0
2
0x1601/0
1
0x1602/0
1
CM-EtherCAT
Data type Access
Unsigned8
Unsigned32
Unsigned8
Unsigned8
Unsigned8
Unsigned8
Unsigned8
Unsigned8
Unsigned8
Subindex
si
(unsigned16 = 10 )
hex
(integer32 = 20
0x1600/1 0x1600/2
0x6040 0x6042
Control word target velocity
0x1601/1...8
No mapping
0x1602/1...8
No mapping
Map Def.-Val
rw No 2
rw No See text
rw No See text
rw No See text
rw No See text
rw No See text
rw No See text
rw No See text
rw No See text
LSB
Length (no. of bits)
ll
st
to 1 mapped object in
nd
) to 2 mapped
hex
0x1600/3...8
0x00000000
45