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SM-EtherCAT User Guide 27
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
6.1.5 Feedback encoder source
Table 6.20 Sync manager 2 PDO assignment object
0x1C12 Sync manager 2 PDO assignment
Sub-index 0
Access: RW Range: 0 to 512 Size: 1 byte Unit: N/A
Default: 1
Description: The number of RxPDOs assigned to this sync manager (used for process data output).
Sub-indices 1 to (sub-index 0)
Access: RW Range: 0x1600 to 0x17FF Size: 2 bytes Unit: N/A
Default: 0x1605
Description: The object index of an RxPDO to assign to this sync manager. By default this is assigned
to RxPDO mapping 6 (vl_target_velocity and controlword).
Table 6.21 Sync manager 3 PDO assignment object
0x1C13 Sync manager 3 PDO assignment
Sub-index 0
Access: RW Range: 0 to 512 Size: 1 byte Unit: N/A
Default: 1
Description: The number of TxPDOs assigned to this sync manager (used for process data input).
Sub-indices 1 to (sub-index 0)
Access: RW Range: 0x1A00 to 0x1BFF Size: 2 bytes Unit: N/A
Default: 0x1A05
Description: The object index of an TxPDO to assign to this sync manager. By default this is assigned to
TxPDO mapping 6 (vl_velocity_actual_value and statusword).
Table 6.22 Feedback encoder source
0x2802 Feedback encoder source
Sub-index 0
Access: RW Range: 0 to 3 Size: 1 byte Unit: N/A
Default: 0
Description: This object specifies the source position for position controller feedback.