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Appendices
A - 8 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
1C13 hex Sync Manager 3 PDO assignment −−− − −−
0 Number of assigned TxPDOs −−01 hex 1 byte (U8) RW Not
possible
1 Assigned PDO 1
(1st PDO Mapping object index of
assigned PDO)
−−1B01 hex 2 bytes (U16) RW Not
possible
2 Assigned PDO 2
(2nd PDO Mapping object index of
assigned PDO)
−−0000 hex 2 bytes (U16) RW Not
possible
3 Assigned PDO 3
(3rd PDO Mapping object index of
assigned PDO)
−−0000 hex 2 bytes (U16) RW Not
possible
4 Assigned PDO 4
(4th PDO Mapping object index of
assigned PDO)
−−0000 hex 2 bytes (U16) RW Not
possible
5 Assigned PDO 5
(5th PDO Mapping object index of
assigned PDO)
−−0000 hex 2 bytes (U16) RW Not
possible
1C32 hex SM2 synchronization −−− − −−
0 Number of synchronization
parameter
−−20 hex 1 byte (U8) RO Not
possible
1 Synchronization type −−0000 hex 2 bytes (U16) RW Not
possible
4 Synchronization types supported −−0001 hex 2 bytes (U16) RO Not
possible
1C33 hex SM3 synchronization −−− − −−
0 Number of synchronization
parameter
−−20 hex 1 byte (U8) RO Not
possible
1 Synchronization type −−0000 hex 2 bytes (U16) RW Not
possible
4 Synchronization types supported −−0001 hex 2 bytes (U16) RO Not
possible
2002 hex Sysmac Error −−− − −−
0 Number of entries −−02 hex 1 byte (U8) RO Not
possible
1 Sysmac Error Status −−00 hex 1 byte (U8) RO Possible
(TxPDO)
2 Sysmac Error Status Clear −−00 hex 1 byte (U8) RW Not
possible
2100 hex 0 Error history clear 6C636C65 hex 00000000 hex 4 bytes (U32) RW Not
possible
5000 hex 0 Command 0000 to
FFFF hex
0000 hex 2 bytes (U16) RW Possible
5010 hex 0 Frequency reference 0000 to
FFFF hex
0.01 Hz
(0.1 Hz)
0000 hex 2 bytes (U16) RW Possible
5100 hex 0 Status 0000 to
FFFF hex
0000 hex 2 bytes (U16) RO Possible
(TxPDO)
5110 hex 0 Output frequency monitor 0000 to
FFFF hex
Unit:
0.01 Hz
(0.1 Hz)
0000 hex 2 bytes (U16) RO Possible
(TxPDO)
5200 hex PDO mapping error history −−− − −−
0 Number of entries −−0A hex 1 byte (U8) RO Not
possible
1 Newest PDO mapping error code −−FFFF hex 2 bytes (U16) RO Not
possible
4 Number of error messages −−00 hex 2 bytes (U16) RO Not
possible
5 to A PDO mapping error message 1 to
6
−−0000 hex 2 bytes (U16) RO Not
possible
603F hex 0 Error code 0000 to
FFFF hex
0000 hex 2 bytes (U16) RO Possible
(TxPDO)
6040 hex 0 Controlword 0000 to
FFFF hex
0000 hex 2 bytes (U16) RW Possible
6041 hex 0 Statusword 0000 to
FFFF hex
0000 hex 2 bytes (U16) RO Possible
(TxPDO)
6042 hex 0 vl target velocity 8000 to
7FFF hex
rpm 0000 hex 2 bytes (INT16) RW Possible
6043 hex 0 vl velocity demand 8000 to
7FFF hex
rpm 0000 hex 2 bytes (INT16) RO Possible
(TxPDO)
6044 hex 0 vl velocity actual value 8000 to
7FFF hex
rpm 0000 hex 2 bytes (INT16) RO Possible
(TxPDO)
Index Sub-
index Object name Setting
range Unit Default setting Size Access PDO
map
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