Control Techniques Nidec SI-EtherCAT User Manual page 37

0x1604 Receive PDO Mapping 5
nd
Sub-index 2: 2 Mapped Object
Access: RW
0x60710010 - the CiA402 target
Default:
torque (0x6071).
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.
Table 6-16 RxPDO mapping 6
0x1605 Receive PDO mapping 6
Sub-index 0: Number Of Mapped Objects
Access: RW
Default: 2
PDO Mappable: No
Description: The number of mapped objects in this PDO.
st
Sub-index 1: 1 Mapped Object
Access: RW
0x60400010 - the CiA402 control word
Default:
(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 of
Description: 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
nd
Sub-index 2: 2 Mapped Object
Access: RW
0x60420010 - the CiA402 vl target
Default:
velocity (0x6042)
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 of
Description: 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: N/A
Range: 0 to 32
Range: N/A
Range: N/A
Size: 4 bytes
Type: Bit Mask / UDINT
Update Rate: PreOp -> SafeOp transition
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: PreOp -> SafeOp transition
Size: 4 bytes
Type: Bit Mask / UDINT
Update Rate: PreOp -> SafeOp transition
Size: 4 bytes
Type: Bit Mask / UDINT
Update Rate: PreOp -> SafeOp transition
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A
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