Lenze 9400 Series User Manual

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06 65
8 Process data transfer
8.3 Mapping indices and codes
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8.3 Mapping indices and codes
The settings caused by the previous steps result in mapping indices that are required for the
configuration of the master and are stored as codes.
The mapping indices always show the currently valid PDO mapping for the inverter and are
displayed on CoE objects 0x1600 (RPDOs) and 0x1A00 (TPDOs) on the EtherCAT.
10 mapping channels each are available for RPDOs and TPDOs. Only one channel at a time can be
activated by the EtherCAT master.
 Note!
• If the PDO mapping is set via the »Engineer«, the EtherCAT configuration software
must load the mapping from the inverter in order that it can be written back to the
controller when the network is started.
This ensure that the mapping indices in the EtherCAT master and slave are identical.
• The mapping codes must not be modified by the user.
Slot in the Servo
Drive 9400
Code Correspondent CoE
object
Description
MXI1 C13231
...
C13240
0x1600.01..0x20
...
0x1609.01..0x20
Mapping entries
RPDO-1 ... 10
C13531
...
C13540
0xA100.01..0x20
...
0xA109.01..0x20
Mapping entries
TPDO-1 ... 10
C13484
0x1C12.01 Active RPDO channel
C13489/1
...
C13489/10
0x1600.00
...
0x1609.00
Number of RPDO mapping entries
RPDO-1 ... 10
C13784
0x1C13.01 Active TPDO channel
C13789/1
...
C13789/10
0x1A00.00
...
0x1A09.00
Number of TPDO mapping entries
TPDO-1 ... 10
MXI2 C14231
...
C13240
0x1600.01..0x20
...
0x1609.01..0x20
Mapping entries
RPDO-1 ... 10
C14531
...
C14540
0xA100.01..0x20
...
0xA109.01..0x20
Mapping entries
TPDO-1 ... 10
C14484
0x1C12.01 Active RPDO channel
C14489/1
...
C14489/10
0x1600.00
...
0x1609.00
Number of RPDO mapping entries
RPDO-1 ... 10
C14784
0x1C13.01 Active TPDO channel
C14789/1
...
C14789/10
0x1A00.00
...
0x1A09.00
Number of TPDO mapping entries
TPDO-1 ... 10

Lenze 9400 Series Specifications

General

Brand	Lenze
Model	9400 Series
Category	Servo Drives
Language	English