Emerson Digitax ST User Manual

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Digitax ST User Guide 79
Issue: 5
Table 9-23 TxPDO mapping 22
9.16.4 Sync manager configuration
The sync managers are the EtherCAT means for setting access
attributes for different areas of memory and triggering or notifying the
application when the memory is accessed. The following objects specify
how the sync managers (and thus corresponding memory areas) are
utilized by the CoE protocol.
Table 9-24 Sync manager communication type object
Table 9-25 Sync manager 0 PDO assignment object
Table 9-26 Sync manager 1 PDO assignment object
Table 9-27 Sync manager 2 PDO assignment object
Table 9-28 Sync manager 3 PDO assignment object
9.16.5 Feedback encoder source
Table 9-29 Feedback encoder source
0 = Use drive as the feedback source
1 = Use the encoder module in slot 1 as the encoder source
2 = Use the encoder module in slot 2 as the encoder source
3 = Use the encoder module in slot 3 as the encoder source
0x1A15 Transmit 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.
0x1C00 Sync manager communication type
Sub-index 0 - number of sync manager channels used
Access: RO Range: N/A Size: 1 byte Unit: N/A
Default: 4
Description
:
The number of sync manager protocols used by the CoE
protocol.
Sub-index 1 - Usage of sync manager 0
Access: RO Range: N/A Size: 1 byte Unit: N/A
Default: 1
Description
:
Sync manager 0 is used by CoE as the mailbox receive
channel (master to slave).
Sub-index 2 - Usage of sync manager 1
Access: RO Range: N/A Size: 1 byte Unit: N/A
Default: 2
Description
:
Sync manager 1 is used by CoE as the mailbox send
channel (slave to master).
Sub-index 3 - Usage of sync manager 2
Access: RO Range: N/A Size: 1 byte Unit: N/A
Default: 3
Description
:
Sync manager 2 is used by CoE as the process data
output (RxPDOx - master to slave).
Sub-index 4 - Usage of sync manager 3
Access: RO Range: N/A Size: 1 byte Unit: N/A
Default: 4
Description
:
Sync manager 3 is used by CoE as the process data input
(TxPDOs - slave to master).
0x1C10 Sync manager 0 PDO assignment
Sub-index 0
Access: RO Range: N/A Size: 1 byte Unit: N/A
Default: 0
Description:
Number of assigned PDOs. The mailbox received sync
manager can never have PDOs assigned to it.
0x1C11 Sync manager 1 PDO assignment
Sub-index 0
Access: RO Range: N/A Size: 1 byte Unit: N/A
Default: 0
Description:
Number of assigned PDOs. The mailbox send sync
manager can never have PDOs assigned to it.
0x1C12 Sync manager 2 PDO assignment
Sub-index 0
Access: RW Range: 0 to 255 Size: 1 byte Unit: N/A
Default: 1
Description
:
The number of RxPDOs assigned to this sync manager
(used for process data output).
Sub-indices 1 to (sub-index 0)
Access: RW
Range: 0x1600
to 0x17FF
Size: 2 bytes Unit: N/A
Default: 0x1605
Description
:
The object index of a RxPDO to assign to this sync
manager. By default this is assigned to RxPDO mapping 6
(vl_target_velocity and controlword).
0x1C13 Sync manager 3 PDO assignment
Sub-index 0
Access: RW Range: 0 to 255 Size: 1 byte Unit: N/A
Default: 1
Description:
The number of TxPDOs assigned to this sync manager
(used for process data input).
Sub-indices 1 to (sub-index 0)
Access: RW
Range: 0x1A00
to 0x1BFF
Size: 2 bytes Unit: N/A
Default: 0x1A05
Description:
The object index of a TxPDO to assign to this sync
manager. By default this is assigned to TxPDO mapping 6
(vl_velocity_actual_value and statusword).
0x2802 Feedback encoder source
Sub-index 0
Access: RW Range: 0 to 3 Size: 1 byte Unit: N/A
Default: 0
Description:
This object specifies the source position for position
controller feedback.

Emerson Digitax ST Specifications

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Brand	Emerson
Model	Digitax ST
Category	Controller
Language	English