SM-EtherCAT User Guide 21
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
6.1.2 RxPDO mappings
Objects with indices from 0x1600 to 0x17FF specify receive PDO mappings. The
mappings from DSP-402 are included as standard (the PDO mappings will have the
following default values):
The RxPDO mappings objects are defined below. Each mapping object has the
maximum number of sub-indices (each representing an object mapped to a PDO)
defined in the XML configuration file (specified as “CF” in the descriptions below).
Table 6.6 RxPDO mappings
PDO number Mapping object index Mapping object name
10x6040 controlword
20x6040
0x6060
controlword
modes of operation
60x6040
0x6042
controlword
vl_target _velocity
Table 6.7 RxPDO mapping 1
0x1600 Receive PDO mapping 1
Sub-index 0: Number of mapped objects
Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A
Default: 1
Description: The number of mapped objects in thie PDO
Sub-index 1: 1st mapped object
Access: RW Range: 0 to 0xFFFFFFFF Size: 4 bytes Unit: N/A
Default: 0x60400010 - the DSP-402 control word (0x6040)
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.