Emerson 0471-0128-02 manual Feedback encoder source, Sync manager 2 PDO assignment object

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).

6.1.5Feedback encoder source

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.

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SM-EtherCAT User Guide	27
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