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SM-EtherCAT User Guide 23
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
6.1.3 TxPDO mappings
Objects with the indices from 0x1A00 to 0x1BFF specify transmit PDO mappings. The
following mappings from DSP-402 are included as standard:
The PDO mapping 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.
Table 6.10 RxPDO mapping 22
0x1615 Receive PDO mapping 22
Sub-index 0: Number of mapped objects
Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A
Default: 0
Description: The number of mapped objects in thie PDO
Sub-indices 1 to 255: 1st to 255th mapped objects in this PDO.
Access: RW Range: 0 to 0xFFFFFFFF Size: 4 bytes Unit: N/A
Default: 0
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.
Table 6.11 TxPDO mappings
PDO number Mapping object index Mapping object name
1 0x6041 statusword
2 0x6041
0x6061
statusword
modes_of_operation_display
3 0x6041
0x6064
statusword
position_actual_value
6 0x6041
0x6044
statusword
vl_velocity_actual_value
Table 6.12 TxPDO mapping 1
0x1A00 Transmit 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: 0x60410010 - the DSP-402 status word (0x6041)
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.