Emerson SM-ETHERCAT 0471-0128-02 - Manual (Page 24)

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SM-EtherCAT User Guide
www.controltechniques.com Issue Number: 2
Table 6.13 TxPDO mapping 2
0x1A01 Transmit PDO mapping 2
Sub-index 0: Number of mapped objects
Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A
Default: 2
Description: The number of mapped objects in this 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.
Sub-index 2: 2nd mapped object
Access: RW Range: 0 to 0xFFFFFFFF Size: 4 bytes Unit: N/A
Default: 0x60610008 - the DSP-402 modes of operation display object (0x6061)
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 6.14 TxPDO mapping 3
0x1A02 Transmit PDO mapping 3
Sub-index 0: Number of mapped objects
Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A
Default: 2
Description: The number of mapped objects in this 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.
Sub-index 2: 2nd mapped object
Access: RW Range: 0 to 0xFFFFFFFF Size: 4 bytes Unit: N/A
Default: 0x60640020 - the DSP-402 actual position (0x6064)
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.