Control Techniques Nidec SI-EtherCAT User Manual page 42

Table 6-24 TxPD mapping 6
0x1A05 Transmit 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
0x60410010 - the CiA402 status word
Default:
(0x6041).
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
0x60440010 - the CiA402 vl control
Default:
effort (0x6044)
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.
Table 6-25 TxPDO mapping 8
0x1A07 Transmit PDO mapping 8
Sub-index 0: Number Of Mapped Objects
Access: RW
Default: 0
PDO Mappable: No
Description: The number of mapped objects in this PDO.
st
Sub-index 1: 1 Mapped Object
Access: RW
0x60410010 - the CiA402 status word
Default:
(0x6041).
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.
This object is only supported when the host drive is in Regen mode.
NOTE
42
Range: 0 to 32
Range: N/A
Range: N/A
Range: 0 to 12
Range: N/A
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
Size: 1 byte
Type: Unsigned integer / USINT
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
Unit: N/A
SI-EtherCAT User Guide