Table of Contents
Advertisement
ASRTU-EC16AP1TA EtherCAT Remote Communication Module Operation Manual
6.3
PDO Mapping Objects
The PDO mapping objects display all parameters for PDO mapping which are used in the CoE protocol
Application Protocol over
6.3.1 Receive PDO Mapping
The Receive PDO mapping consists of a set of output parameters for ASRTU-EC16AP1TA and its right-side
extension modules.
1600h~161Fh is the output parameter configuration set for right-side extension modules. 1600h is the output
parameter set for the 1
set for the 2
extension module and so on. Thus, likewise 161Fh is the output parameter set for the 32
nd
extension module on the right of ASRTU-EC16AP1TA.
1700h~1704h is the local output parameter configuration set for ASRTU-EC16AP1TA.
6.3.2 Transmit PDO Mapping
The Transmit PDO mapping consists of a set of input parameters for ASRTU-EC16AP1TA and its right-side
extension modules.
1A00h~1A1Fh is the input parameter configuration set for right-side extension modules. 1A00h is the input
parameter set for the 1
set for the 2
extension module and so on. Thus, likewise 1A1Fh is the input parameter set for the 32
nd
extension module on the right of ASRTU-EC16AP1TA.
1B00h is the local input parameter configuration set for ASRTU-EC16AP1TA.
6.3.3 Parameters for Right-Side Extension Modules
_6
The indexes for right-side extension module parameters range between 2000h and 201Fh. Index values
depend on the location of each extension module on the right of ASRTU-EC16AP1TA.
For example, when an extension module is located at the 1
index of the module parameters is 2000h; when an extension module is located at the 2
ASRTU-EC16AP1TA, the index of the module parameters is 2001h and so on. Thus, likewise when an
extension module is located at the 32
parameters is 201Fh.
The subindexes for the extension modules correspond to CR parameters of the extension modules. When an
extension module is located at the 1
2000h and 01h respectively and correspond to CR0 of the extension module. When an extension module is
located at the 2
respectively and correspond to CR6 of the extension module.
The following table lists the indexes and subindexes for ASRTU-EC16AP1TA's right-side extension module
parameters.
Index
Subindex
2000h
6-6
EtherCAT).
extension module on the right of ASRTU-EC16AP1TA, 1601h is the output parameter
st
extension module on the right of ASRTU-EC16AP1TA, 1A01h is the input parameter
st
place on the right of ASRTU-EC16AP1TA, the index of the module
nd
place on the right of ASRTU-EC16AP1TA, the index and subindex are
st
place on the right of ASRTU-EC16AP1TA, the index and subindex are 2001h and 07h
nd
The index and subindex that its CR0 corresponds to when the extension module
01h
is the 1
unit on the right side of ASRTU-EC16AP1TA
st
The index and subindex that its CR1 corresponds to when the extension module
02h
is the 1
unit on the right side of ASRTU-EC16AP1TA
st
...
...
place on the right of ASRTU-EC16AP1TA, the
st
Description
(CAN
nd
nd
place on the right of
nd
Advertisement
Table of Contents
