Pdo Mapping Configuration; Default Pdo Mapping Configuration - Delta CMC-EC01 Operation Manual

4.2

PDO Mapping Configuration

4.2.1

Default PDO Mapping Configuration

The tables below are the default PDO mapping configurations of EtherCAT drive for data exchange,
which is also defined in the XML file of EtherCAT slave. The RxPDO and TxPDO of each group can
be worked with each other.
RxPDO Mapping
First group RxPDO mapping VL Mode
RxPDO
(0x1600)
Second group RxPDO mapping CSP Mode
RxPDO
(0x1601)
Third group RxPDO mapping CST Mode
RxPDO
(0x1602)
TxPDO Mapping
First group TxPDO mapping
TxPDO
(0x1A00)
CMC-EC01 Operation Manual
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Controlword
(0x6040)
Max Torque
(0x6072)
Controlword
(0x6040)
Target Position
(0x607A)
Controlword
(0x6040)
Max Torque
(0x6072)
Statusword
(0x6041)
Velocity Actual Value
(0x606C)
EtherCAT Option Card CMC-EC01
vl target velocity
(0x6042)
Max Motor Speed
(0x6080)
Mode of Operation
(0x6060)
Max Motor Speed
(0x6080)
Mode of Operation
(0x6060)
Target Position
(0x607A)
Mode of Operation
Display
(0x6061)
Torque Actual Value
(0x6077)
Mode of Operation
(0x6060)
Max Torque
(0x6072)
Target Torque
(0x6071)
Max Motor Speed
(0x6080)
Position Actual Value
(0x6064)
Error Code
(0x603F)