Control Techniques Nidec SI-EtherCAT User Manual page 34

If parameter S.00.049 is set to "Unidrive SP", the product code will be as follows:
Mode Product Code
Open Loop 0x10003
RFC-A 0x30003
RFC-S 0x40003
Firmware V01.03.05.02 and earlier firmware versions indicated the module firmware
NOTE
version number.
6.3.2 RxPDO mappings
Objects with indices from 0x1600 to 0x17FF specify receive PDO mappings. The mappings from
CiA402 are included as standard (the PDO mappings will have the following default values).
It is possible to map up to twelve objects in a PDO, except the Rx PDO mapping 6 & 10. RxPDO 6
can accept 32 objects, if it is mapped in sync manager 4. RxPDO 10 can accept 51 objects but is
exclusively used for FSoE. All of this is checked on the transition from PreOp to SafeOp. The
following mappings are included by default (in the ESI files), and it is possible to change the objects
mapped in each; all except PDO number 8 & 10 are standard, defined in the CiA402 specification:
Table 6-11 RxPDO mappings
PDO No.
1
2
3
5
6
8
10
The RxPDO mapping objects are defined in the following tables. Each mapping object has the
maximum number of sub-indices (each representing an object mapped to a PDO) defined in the
XML configuration file (specified as "CF" in the following descriptions).
The above shows the default values. All except PDO 10, can be changed from their
NOTE
default values. PDO 10 is available for FSoE only.
PDO number 8 is only configured in XML configuration file for Unidrive M600 and above
working in regen mode.
Depending on the drive type and operation mode, not all the RxPDO mappings are
defined in the XML configuration file.
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Mapped object indices
0x6040
0x6040
0x6060
0x6040
0x607A
0x6040
0x6071
0x6040
0x6042
0x2006:2A
Depends on ESI module loaded
Mapped default object names
controlword
controlword
modes_of_operation
controlword
target_position
controlword
target_torque
controlword
vl_target_velocity
drive controlword
FSoE related
SI-EtherCAT User Guide