0X1A00/N, 0X1A01/N, 0X1A02/N, Txpdo Mapping Parameter - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

12.2.10 0x1A00/n, 0x1A01/n, 0x1A02/n,
TxPDO Mapping Parameter
Index Sub-index
0x1A00 0
0x1A01
0x1A02
1
2
3
4
5
6
7
8
TxPDO Mapping parameters:
0x1A00/n TxPDO1
0x1A01/n TxPDO2
0x1A02/n TxPDO3
0x1A00/0 = 0
0x1A00/0 = 1 ... 8 = 1 ... 8 objects mapped
Mapping entry:
High byte
Examples:
Mapping of
Mapping of
TxPDO1:
Default mapping
TxPDO1
TxPDO2
TxPDO3
The number of mappable objects depends on the object's length.
The maximum number of bytes that can be mapped is 8.
46
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 object mapped
MSB
Object index
Low byte
Status word
0x6041/0
0x1A00/1 = 0x60410010
position actual value
0x6064/0
0x1A00/2 = 0x60640020
0x1A00/0
2
0x1A01/0
1
0x1A02/0
1
CM-EtherCAT
Data type
Unsigned8
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Subindex
si
st
(unsigned16) to 1 mapping object inTxPDO1:
(integer32) to 2
0x1A00/1 0x1A00/2
0x6041 0x6044
Status word control effort
0x1A01/1...8
No mapping
0x1A02/1...8
No mapping
Access 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
nd
mapping object in
0x1A00/3...8
0x00000000
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