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5 CiA402 Drive Profile
5 - 12 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
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
Index Sub-index Bit length
31 16 15 8
MSB LSB
70
All
All
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