Emerson 0471-0128-02 manual TxPDO mapping, 0x1A01, 0x1A02

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.

24	SM-EtherCAT User Guide
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