Eaton XN300 - Page 283

34 DC motor driver module XN-322-1DCD-B35
34.5 Memory layout
279 XN300 slice modules 02/24 MN050002EN Eaton.com
34.5 Memory layout
￫
For product-specific CANopen or EtherCAT objects please refer
to the manual for the respective gateway:
"CANopen Gateway XN-312-GW-CAN", MN050003EN
"EtherCAT Gateway XN-312-GW-EC", MN050010EN
CAN
Object
Index
Default
CAN
Mapping
EtherCAT
Object
Index
Size
(byte)
Local I/O
Description
Refer to ￫ Figure 144, page 270 to ￫ Figure 146, page 271,
Local I/O
addresse
s
– – 0x9xx0
SUB 01
4 ModuleState –
0x1027 – 0x9xx0
SUB 02
CAN:2
EC:4
CAN: ModuleID
EC: DeviceID
Module ID number –
– – 0x9xx0
SUB 03
4 FPGAVersion –
– – 0x9xx0
SUB 04
4 DeviceType –
– – 0x9xx0
SUB 05
4 VendorID –
– – 0x9xx0
SUB 06
4 ProductCode –
– – 0x9xx0
SUB 07
4 Revision –
– – 0x9xx0
SUB 09
4 HWVersion –
– – 0x9xx0
SUB 0A
4 FWVersion –
0x20E0 0x7xxB
SUB 01
2 WRSeq1
Write sequence time 1
data
Bit 0-10 Value / system clock 0x0000
Bit 11 0: Relative time base
1: Absolute time base
Bit 12 Motor polarity – left high
Bit 13 Motor polarity – right high
Bit 14 Motor polarity – left low
Bit 15 Motor polarity – right low
0x20E1 0x7xxB
SUB 02
2 WRSeq2
Write sequence time 2
data
Bit 0-10 Value / system clock 0x0002
Bit 11 0: Relative time base
1: Absolute time base
Bit 12 Motor polarity – left high
Bit 13 Motor polarity – right high
Bit 14 Motor polarity – left low
Bit 15 Motor polarity – right low