Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default set-
ting
Data
attrib-
ute
Size
Ac-
cess
PDO
map
Complete
access
Modes of
operation
1700 --- 257th receive
PDO Mapping
--- --- --- --- --- --- --- Possible ---
00 Number of en-
tries
--- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 Mapping entry 1 --- --- 60400010
hex
--- 4 bytes
(U32)
RO --- --- ---
02 Mapping entry 2 --- --- 60420010
hex
--- 4 bytes
(U32)
RO --- --- ---
• This mapping is for applications that use the Velocity mode of the CiA402 drive profile.
• The following objects are mapped.
Controlword (6040 hex) and vl target velocity
(6042 hex)
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default set-
ting
Data
attrib-
ute
Size
Ac-
cess
PDO
map
Complete
access
Modes of
operation
1701 --- 258th receive
PDO Mapping
--- --- --- --- --- --- --- Possible ---
00 Number of ob-
jects in this PDO
--- --- 02 hex --- 1 byte
(U8)
RO --- --- ---
01 1st Output Ob-
ject to be map-
ped
--- --- 50000010
hex
--- 4 bytes
(U32)
RO --- --- ---
02 2nd Output Ob-
ject to be map-
ped
--- --- 50100010
hex
--- 4 bytes
(U32)
RO --- --- ---
• This is the PDO mapping when a fixed profile is used.
• The following objects are mapped.
Command
(5000 hex) and Frequency Reference (5010 hex)
Appendices
A-17
M1 Series EtherCAT Type User’s Manual (I670)
A-2 CoE Objects
A
A-2-5 PDO Mapping Objects
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