18．EtherCAT COMMUNICATION
(2) TxPDO default mapping
In the default mapping setting, status data of the _ driver is sent to the master (upper side) with TxPDO in
the following array. In the _ driver, the mapping objects of 1A00h to 1A03h can be used as the TxPDO
default mapping table.
Expected application of the initial map
Modes of operation display (6061h)
Statusword (6041h)
Status DO 1 (2D11h)
Status DO 2 (2D12h)
Status DO 3 (2D13h)
Position actual value (6064h)
Velocity actual value (606Ch)
Following error actual value (60F4h)
Torque actual value (6077h)
Touch probe status (60B9h)
Touch probe pos1 pos value (60BAh)
Touch probe pos1 neg value (60BBh)
Touch probe pos2 pos value (60BCh)
Touch probe pos2 neg value (60BDh)
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Homing mode (hm)
Mapping for an application in which the modes
above are switched
Mapping for an application in which the modes
below are switched
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
The latched position by the touch probe function
can be monitored.
Map size: 41 bytes
Modes of operation display (6061h)
Statusword (6041h)
Status DO 1 (2D11h)
Status DO 2 (2D12h)
Status DO 3 (2D13h)
Status DO 5 (2D15h)
Status DO 7 (2D17h)
Position actual value (6064h)
Velocity actual value (606Ch)
Following error actual value (60F4h)
Torque actual value (6077h)
Point demand value (2D68h) (Note)
Point actual value (2D69h) (Note)
M code actual value (2D6Ah) (Note)
Touch probe status (60B9h)
Touch probe pos1 pos value (60BAh)
Touch probe pos1 neg value (60BBh)
Touch probe pos2 pos value (60BCh)
Touch probe pos2 neg value (60BDh)
Point table mode (pt) or indexer mode (idx)
Jog mode (jg)
Homing mode (hm)
Mapping for an application in which the modes
above are switched.
Map size: 54 bytes
To Next Page
Loading...
