Download SM-EtherCAT User Guide

0x1601
Safety
information
Table 6.8 RxPDO mapping 2
Receive PDO mapping 2
Sub-index 0: Number of mapped objects
Access: RW
Range: 0 to 12
Size: 1 byte
2
Description:
The number of mapped objects in this PDO.
Unit: N/A
Introduction
Default:
Sub-index 1: 1st mapped object
Default:
Size: 4 bytes
Unit: N/A
Mechanical
installation
Range: 0 to
0xFFFFFFFF
Access: RW
0x60400010 - the CiA402 control word (0x6040)
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
Default:
Size: 4 bytes
Getting started
Range: 0 to
0xFFFFFFFF
Access: RW
Unit: N/A
0x60600008 - the CiA402 modes of operation object (0x6060)
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.
0x1602
Drive profile (CiA402)
support
Table 6.9 RxPDO mapping 3
Receive PDO mapping 3
Sub-index 0: Number of mapped objects
Access: RW
Range: 0 to 12
Size: 1 byte
Default:
2
Description:
The number of mapped objects in this PDO.
Unit: N/A
Range: 0 to
0xFFFFFFFF
Size: 4 bytes
Advanced
features
Sub-index 1: 1st mapped object
Access: RW
Unit: N/A
0x60400010 - the CiA402 control word (0x6040)
Description:
A mapping to an object. This will have the following format:
Bits 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap).
Bits 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bits 16 to 31: Index of the mapped object (if a gap, zero).
Range: 0 to
0xFFFFFFFF
Default:
Size: 4 bytes
Diagnostics
Sub-index 2: 2nd mapped object
Unit: N/A
0x607A0020 - the CiA402 target position (0x607A).
A mapping to an object. This will have the following format:
Bits 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap).
Bits 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bits 16 to 31: Index of the mapped object (if a gap, zero).
Glossary of
terms
A mapping to an object with the following format:
Description:
Menus
Default:
Access: RW
Protocols
Description:
Electrical
installation
Description:
Index
Unidrive M SI-EtherCAT User Guide
Issue Number: 1
25