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5 CiA402 Drive Profile
5 - 14 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
The PDO allocation when a fixed profile is used.
The following objects are mapped.
Status information (5100 hex), Output frequency monitor (5110 hex)
This is a mapping object to notify that the EtherCAT Communication Unit has detected an error.
2002 hex-01 hex: Sysmac Error Status has been mapped.
When the Machine Automation Controller NJ501-1x00 series is connected, assign this object to
1C13 hex: Sync manager 3 PDO assignment.
By default, Sysmac Studio assigns this object automatically.
Objects 1C00 to 1C33 hex set how to use the EtherCAT communications memory.
The Sync Manager has the following settings.
SM0 : Mailbox reception (master to slave)
SM1 : Mailbox send (slave to master)
SM2 : Process data output (master to slave)
SM3 : Process data input (slave to master)
1B01 hex 258th 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: 51000010 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: 51100010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
1BFF hex 512th transmit PDO mapping
Sub-index 0: Number of objects in this PDO
Setting range: Unit: Default setting: 01 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Setting range: Unit: Default setting: 20020108 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
5-5-3 Sync Manager Communication Objects
1C00 hex Sync Manager communication type
Sub-index 0: Number of used SM channels
Setting range: Unit: Default setting: 04 hex
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Communication Type SM0
Setting range: Unit: Default setting: 01 hex
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 2: Communication type SM1
Setting range: Unit: Default setting: 02 hex
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 3: Communication type SM2
Setting range: Unit: Default setting: 03 hex
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 4: Communication type SM3
Setting range: Unit: Default setting: 04 hex
Size: 4 bytes (U8) Access: RO PDO map: Not possible
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