Emerson 0471-0128-02 manual RxPDO mappings, 0x1600, Receive PDO mapping

6.1.2RxPDO 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):

Table 6.6 RxPDO mappings

PDO number	Mapping object index	Mapping object name
1	0x6040	controlword
2	0x6040	controlword
	0x6060	modes of operation
6	0x6040	controlword
	0x6042	vl_target _velocity

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 6.7 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.

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SM-EtherCAT User Guide	21
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