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5 CiA402 Drive Profile
EtherCAT Communication Unit USER’S MANUAL (I574-E1)
5-5 CoE Communications Area
5
5-5-2 PDO Mapping Objects
The PDO mapping when a fixed profile is used.
The following objects are mapped.
Command (5000 hex), Frequency reference (5010 hex)
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.
Statusword (6041 hex), vl velocity demand (6043 hex)
1701 hex 258th 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: 50000010 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: 50100010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
1A00 to 1A04 hex 1st to 5th transmit PDO mapping
Sub-index 0: Number of objects
Setting range: Unit: Default setting: 2
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input 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 Input Object to be mapped
Setting range: Unit: Default setting: 00000000 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
1B00 hex 257th fixed transmit 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 Input Object to be mapped
Setting range: Unit: Default setting: 60410010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Input Object to be mapped
Setting range: Unit: Default setting: 60430010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
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