Emerson SM-ETHERCAT 0471-0128-02 - Manual (Page 25)

SM-EtherCAT User Guide
25
Issue Number: 2 www.controltechniques.com
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Table 6.15 TxPDO mapping 6
0x1A05 Transmit PDO mapping 6
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: 0x60440010 - the DSP-402 vl_control_effort (0x6044).
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 6.16 TxPDO mapping 22
0x1A15 Transmit 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.