Lenze E94AYCET - Manual (Page 64)

8 Process data transfer
8.1 Configuring process data (PDO mapping)
64
Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
8.1.3 Structure of the mapping codes
The mapping codes C13231 ... C13240 and C14231 ... C14240 have the following structure:
Example
In the RPDO channel 1, the index 0xA640.0x03 is transmitted with a length of 4 bytes from an offset
of 20 bytes.
• Entry in the mapping code C1x231/8: 0x002000A00003A640
• Correspondent entry in the CoE object 0x1600/8: 0xA6400320
Octet offset Name Description
0 / 1 Index Index of the object to be mapped
2 Subindex Subindex of the object to be mapped
3 Reserved
4 / 5 Offset Offset regarding the PDO start in bits
6 / 7 Length Length of the object to be mapped in bits
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Index Subindex Reserved Offset Length
0x40 0xA6 0x03 0x00 0xA0 0x00 0x20 0x00