5 CiA402 Drive Profile
5 - 12
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
• The PDO mapping when a fixed profile is used.
• The following objects are mapped.
• Command (5000 hex), Frequency reference (5010 hex)
• The PDO mapping when freely allocated objects are used.
• Objects can be allocated up to a total bit length of 32 bits.
• The PDO mapping when Velocity mode is used.
• The following objects are mapped.
• Statusword (6041 hex), vl velocity demand (6043 hex)
1701 hex 258th fixed receive 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 Output Object to be mapped
Setting range: Unit: Default setting: 50000010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped
Setting range: Unit: Default setting: 50100010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
1A00 to 1A04 hex 1st to 5th transmit PDO mapping
Sub-index 0: Number of objects
Setting range: Unit: Default setting: 2
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Setting range: Unit: Default setting: 00000000 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index 2: 2nd Input Object to be mapped
Setting range: Unit: Default setting: 00000000 hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible
1B00 hex 257th 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: 60410010 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: 60430010 hex
Size: 4 bytes (U32) Access: RO PDO map: Not possible
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