Emerson Digitax ST User Manual

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Digitax ST User Guide 77
Issue: 5
9.16.2 RxPDO mappings
Objects with indices from 0x1600 to 0x17FF specify receive PDO
mappings. The mappings from DSP-402 are included as standard (the
PDO mappings will have the following default values).
Table 9-13 RxPDO mappings
The RxPDO mapping objects are defined in the following tables. Each
mapping object has the maximum number of sub-indices (each
representing an object mapped to a PDO) defined in the XML
configuration file (specified as “CF” in the following descriptions).
Table 9-14 RxPDO mapping 1
Table 9-15 RxPDO mapping 2
Table 9-16 RxPDO mapping 6
Table 9-17 RxPDO mapping 22
9.16.3 TxPDO mappings
Objects with the indices from 0x1A00 to 0x1BFF specify transmit PDO
mappings. The following mappings from DSP-402 are included as
standard.
Table 9-18 TxPDO mappings
The PDO mapping objects are defined below. Each mapping object has
the maximum number of sub-indices (each representing an object
mapped to a PDO) defined in the XML configuration file.
PDO number
Mapping object
index
Mapping object name
1 0x6040 controlword
2 0x6040
0x6060
controlword
modes of operation
6 0x6040
0x6042
controlword
vl_target _velocity
0x1600 Receive PDO mapping 1
Sub-index 0: Number of mapped objects
Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A
Default: 1
Description
:
The number of mapped objects in thie PDO
Sub-index 1: 1st mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes Unit: N/A
Default: 0x60400010 - the DSP-402 control word (0x6040)
Description
:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
0x1601 Receive PDO mapping 2
Sub-index 0: Number of mapped objects
Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A
Default: 2
Description: The number of mapped objects in this PDO.
Sub-index 1: 1st mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes Unit: N/A
Default: 0x60400010 - the DSP-402 control word (0x6040)
Description:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
Sub-index 2: 2nd mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes Unit: N/A
Default:
0x60600008 - the DSP-402 modes of operation object
(0x6060)
Description:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
0x1605 Receive PDO mapping 6
Sub-index 0: Number of mapped objects
Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A
Default: 2
Description: The number of mapped objects in this PDO.
Sub-index 1: 1st mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes Unit: N/A
Default: 0x60400010 - the DSP-402 control word (0x6040)
Description:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
Sub-index 2: 2nd mapped object
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes Unit: N/A
Default:
0x60600008 - the DSP-402 modes of operation object
(0x6060)
Description:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
0x1615 Receive PDO mapping 22
Sub-index 0: Number of mapped objects
Access: RW Range: 0 to (CF) Size: 1 byte Unit: N/A
Default: 0
Description: The number of mapped objects in thie PDO
Sub-indices 1 to 255: 1st to 255th mapped objects in this PDO.
Access: RW
Range: 0 to
0xFFFFFFFF
Size: 4 bytes Unit: N/A
Default: 0
Description:
A mapping to an object with the following format:
Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.
PDO number
Mapping object
index
Mapping object name
1 0x6041 statusword
2
0x6041
0x6061
statusword
modes_of_operation_display
3
0x6041
0x6064
statusword
position_actual_value
6
0x6041
0x6044
statusword
vl_velocity_actual_value

Emerson Digitax ST Specifications

General

Brand	Emerson
Model	Digitax ST
Category	Controller
Language	English