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6.2.6 Identity (1018h)
The object shows the basic information of ASRTU-EC16AP including vendor ID, product code, revision and
serial number. See the following table for details.
Index
Subindex
1
2
1018h
3
4
6.3 PDO Mapping Objects
The PDO mapping objects display all parameters for PDO mapping which are used in the CoE protocol (CAN
Application Protocol over EtherCAT).
6.3.1 Receive PDO Mapping
The Receive PDO mapping consists of a set of output parameters for ASRTU-EC16AP and its right-side
extension modules.
1600h~161Fh is the output parameter configuration set for right-side extension modules. 1600h is the output
st
parameter set for the 1
extension module on the right of ASRTU-EC16AP, 1601h is the output parameter set
nd
for the 2
extension module and so on. Thus, likewise 161Fh is the output parameter set for the 32
extension module on the right of ASRTU-EC16AP.
1700h~1704h is the local output parameter configuration set for ASRTU-EC16AP.
6.3.2 Transmit PDO Mapping
The Transmit PDO mapping consists of a set of input parameters for ASRTU-EC16AP and its right-side
extension modules.
1A00h~1A1Fh is the input parameter configuration set for right-side extension modules. 1A00h is the input
st
parameter set for the 1
extension module on the right of ASRTU-EC16AP, 1A01h is the input parameter set
nd
for the 2
extension module and so on. Thus, likewise 1A1Fh is the input parameter set for the 32
module on the right of ASRTU-EC16AP.
1B00h is the local input parameter configuration set for ASRTU-EC16AP.
6.3.3 Parameters for Right-Side Extension Modules
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-EC16AP.
For example, when an extension module is located at the 1
of the module parameters is 2000h; when an extension module is located at the 2
ASRTU-EC16AP, the index of the module parameters is 2001h and so on. Thus, likewise when an extension
module is located at the 32
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
nd
located at the 2
place on the right of ASRTU-EC16AP, the index and subindex are 2001h and 07h
respectively and correspond to CR6 of the extension module.
Name
Data type
Vendor ID
UDINT
Product code
UDINT
Revision
UDINT
Serial number
UDINT
nd
place on the right of ASRTU-EC16AP, the index of the module parameters is
st
place on the right of ASRTU-EC16AP, the index and subindex are
Chapter 6 Introduction of Parameters
Supports PDO
Attribute
mapping or not?
RO
NO
RO
NO
RO
NO
RO
NO
st
place on the right of ASRTU-EC16AP, the index
Default
0x000001DD
0x10506102
0x00000001
0x00000000
nd
nd
extension
nd
place on the right of
6-5
6_
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