SMC Networks LECSN-T Series - 18.3.5 Mapping-necessary objects

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18．EtherCAT COMMUNICATION
Index
Sub
Object
Name
Data
Typ
e
Acces
s
Default
Description
1
PDO Mapping object
index of assigned
RxPDO
U16
rw
1600h
1C13h
0
ARRAY
Sync Manager 3 PDO
Assignment
U8
ro
1
Refer to section 7.3.3 (3).
1
PDO Mapping object
index of assigned
TxPDO
U16
rw
1A00h
18.3.5 Mapping-necessary objects
The following table lists the objects which are required for each mode.
(1) RxPDO
Object name (Index)
Mode (Note 1)
Function
(Note 1)
csp
csv
cst
pp
pv
tq
pt
jg
hm
idx
Touch
probe
Controlword (6040h)
Control DI 1 (2D01h) Gain switching
-
-
-
Control DI 2 (2D02h) Proportional control
-
-
-
-
Control DI 3 (2D03h)
-
-
-
-
-
-
-
Target position (607Ah)
-
-
-
-
-
-
-
-
Target velocity (60FFh)
-
-
-
-
-
-
-
-
Target torque (6071h)
-
-
-
-
-
-
-
-
Profile velocity (6081h)
-
-
-
-
-
-
-
Profile acceleration (6083h)
-
-
-
-
-
-
Profile deceleration (6084h)
-
-
-
-
-
-
Torque slope (6087h)
-
-
-
-
-
-
-
-
-
Velocity limit value (2D20h)
-
-
-
-
-
-
-
-
Positive torque limit value (60E0h)
Negative torque limit value (60E1h)
Touch probe function (60B8h)
Watch dog counter DL (2D23h)
-
-
-
-
-
-
-
-
Target point table (2D60h)
-
-
-
-
-
-
-
-
-
Note 1.
: Mapping required
: Mapping recommended
-: Mapping not required