Emerson 0471-0128-02 manual Quick Reference, SM-EtherCAT objects reference

10 Quick Reference

Table 10.1 and Table 10.2 list of all the SM-EtherCAT set-up objects and parameters that are required to configure the module.

Table 10.1 SM-EtherCAT objects reference

Object	Name	Description	Cross reference
0x1000	Device type	Specifies the device profile being used	Section 6.1.1 on page 20
		(DSP-402).
0x1018	Identity object	Contains SM-EtherCAT specific identity	Section 6.1.1 on page 20
		information.
0x1600	Receive PDO	Contains the mapping information for	Section 6.1.2 on page 21
	mapping 1	receive PDO mapping 1.
0x1601	Receive PDO	Contains the mapping information for	Section 6.1.2 on page 21
	mapping 2	receive PDO mapping 2.
0x1605	Receive PDO	Contains the mapping information for	Section 6.1.2 on page 21
	mapping 6	receive PDO mapping 6.
0x1621	Receive PDO	Contains the mapping information for	Section 6.1.2 on page 21
	mapping 22	receive PDO mapping 22.
0x1A00	Transmit PDO	Contains the mapping information for	Section 6.1.3 on page 23
	mapping 1	transmit PDO mapping 1.
0x1A01	Transmit PDO	Contains the mapping information for	Section 6.1.3 on page 23
	mapping 2	transmit PDO mapping 2.
0x1A02	Transmit PDO	Contains the mapping information for	Section 6.1.3 on page 23
	mapping 3	transmit PDO mapping 3.
0x1A05	Transmit PDO	Contains the mapping information for	Section 6.1.3 on page 23
	mapping 6	transmit PDO mapping 6.
0x1A21	Transmit PDO	Contains the mapping information for	Section 6.1.3 on page 23
	mapping 22	transmit PDO mapping 22.
0x1C00	Sync manager	This read-only object provides sync	Section 6.1.4 on page 26
	communication
		manager usage details.
	type
0x1C10	Sync manager 0	This read-only object contains
	PDO	information relating to the non-cyclic	Section 6.1.4 on page 26
	assignment	receive mailbox.
0x1C11	Sync manager 1	This read-only object contains
	PDO	information relating to the non-cyclic	Section 6.1.4 on page 26
	assignment	send mailbox.
0x1C12	Sync manager 2	Contains the currently in use receive	Section 6.1.4 on page 26
	PDO	PDOs.
	assignment
0x1C13	Sync manager 3	Contains the currently in use transmit	Section 6.1.4 on page 26
	PDO	PDOs.
	assignment
0x2813	Network loss	Used to configure the network loss trip	Section 9.2.1 on page 57
	behavior object	behavior (watchdog).
0x6040	Controlword	Provides the primary method of control-	Section 7.1 on page 28
		ling the behavior of the drive.
0x6041	Statusword	This provides feedback about the current	Section 7.2 on page 29
		operating state of the drive.
0x6042	vl_target_velocity	Used to set the required velocity of the	Section 7.5.1 on page 41
		system.
0x6043	vl_velocity	Provides the instantaneous velocity	Section 7.5.2 on page 42
		demand generated by the drive ramp
	demand
		function.

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