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SM-EtherCAT User Guide 21
Issue Number: 2 www.controltechniques.com
Safety
Information
Introduction
Mechanical
Installation
Electrical
Installation
Getting Started
Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
Reference
Glossary Of
Terms
Index
6.1.2 RxPDO mappings
Objects with indices from 0x1600 to 0x17FF specify receive PDO mappings. The
mappings from DSP-402 are included as standard (the PDO mappings will have the
following default values):
The RxPDO mappings objects are defined below. 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 descriptions below).
Table 6.6 RxPDO mappings
PDO number Mapping object index Mapping object name
1 0x6040 controlword
2 0x6040
0x6060
controlword
modes of operation
6 0x6040
0x6042
controlword
vl_target _velocity
Table 6.7 RxPDO mapping 1
0x1600 Receive PDO mapping 1
Sub-index 0: Number of mapped objects
Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A
Default: 1
Description: The number of mapped objects in thie PDO
Sub-index 1: 1st mapped object
Access: RW Range: 0 to 0xFFFFFFFF Size: 4 bytes Unit: N/A
Default: 0x60400010 - the DSP-402 control word (0x6040)
Description: 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 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.