5 - 11
5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
5-5 CoE Communications Area
5
5-5-2 PDO Mapping Objects
Indexes 1600 to 17FF hex are used for receive PDO mapping and indexes 1A00 to 1BFF hex are used
for transmit PDO mapping. Sub-indexes after sub-index 1 provide information about the application
object being mapped.
• The PDO mapping when freely allocated objects are used.
• Objects can be allocated up to a total bit length of 32 bits.
• The PDO mapping when Velocity mode is used.
• The following objects are mapped.
• Controlword (6040 hex), vl target velocity (6042 hex)
Diagnosis history details
Meaning Size Details
Error code 4 bytes (U32) The upper byte is the error code that is defined with CiA301 and CiA402. The
lower 2 bytes are the code type and are fixed at E800 hex.
Error flag 2 bytes (U16) Gives the error type.
Bit 1: Warning
Bit 2: Error
Other bits: Reserved
(Reserved) 17 bytes The reserved area.
5-5-2 PDO Mapping Objects
Bit 0 to 7 : Bit length of the mapped object. (For example, for 32 bits, 20 hex is given.)
Bit 8 to 5 : Sub-index of the mapped object.
Bit 16 to 31 : Index of the mapped object.
1600 to 1604 hex 1st to 5th receive PDO mapping
Sub-index 0: Number of objects
Setting range: - Unit: - Default setting: 0
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Setting range: - Unit: - Default setting: 00000000 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped
Setting range: - Unit: - Default setting: 00000000 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
1700 hex 257th fixed receive PDO mapping
Sub-index 0: Number of objects
Setting range: Unit: Default setting: 2
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Setting range: Unit: Default setting: 60400010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped
Setting range: Unit: Default setting: 60420010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
To Next Page
Need help?
General
