Control Techniques Nidec SI-EtherCAT User Manual page 35

Table 6-12 RxPDO mapping 1

0x1600

Receive PDO mapping 1

Sub-index 0: Number Of Mapped Objects

Access: RW

Default:

PDO Mappable: No

Description:

The number of mapped objects in the PDO

Sub-index 1: 1

Mapped Object

Access: RW

0x60400010 - the CiA402 control

Default:

word (0x6040)

PDO Mappable: No

A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit parameter would have a length of

Description:

32 or 0x20.

Bits 8 to 15: Sub-index of the mapped object.

Bits 16 to 31: Index of the mapped object.

Table 6-13 RxPDO mapping 2

0x1601

Receive PDO mapping 2

Sub-index 0: Number Of Mapped Objects

Access: RW

Default:

PDO Mappable: No

Description:

The number of mapped objects in this PDO.

Sub-index 1: 1

Mapped Object

Access: RW

0x60400010 - the CiA402 control

Default:

word (0x6040)

PDO Mappable: No

A mapping to an object. This will have the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit parameter would have a length

Description:

of 32 or 0x20.

Bits 8 to 15: Sub-index of the mapped object.

Bits 16 to 31: Index of the mapped object.

Sub-index 2: 2

Mapped Object

Access: RW

0x60600008 - the CiA402 modes of

Default:

operation object (0x6060)

PDO Mappable: No

A mapping to an object. This will have the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-bit parameter would have a length

Description:

of 32 or 0x20.

Bits 8 to 15: Sub-index of the mapped object.

Bits 16 to 31: Index of the mapped object.

SI-EtherCAT User Guide

Range: 0 to 12

Range: N/A

Range: 0 to 12

Range: N/A

Size: 1 byte

Type: Unsigned integer / USINT