15. Select the mapping ‘2nd Receive PDO mapping’ and click at [Edit]. Perform the fol-
lowing settings:
Outputs: 2nd Receive PDO 0x1601
n General
– Name: 2nd Receive PDO mapping
– Index: 0x1601
n Flags
– Everything de-activated
n Direction
– RxPdo (Output): activated
n Exclude
Please note these settings, otherwise the PDO mappings can not be activated
at the same time!
– 1600: de-activated
– 1602: activated
– 1603: activated
n Entries
Name Index Bit length
Profile velocity 0x6081:00 32bit
Profile acceleration 0x6083:00 32bit
Profile deceleration 0x6084:00 32bit
Close the dialog ‘Edit PDO’ with [OK].
16. In PDO assignment, activate the PDOs 1 and 2 for the inputs and outputs. All sub-
sequent PDOs must remain de-activated. If this is not possible, please check the
respective PDO parameter ‘Exclude’ .
17. In the ‘Device Editor’ of the SPEED7 EtherCAT Manager, select the ‘Distributed
clocks’ tab and set ‘DC unused’ as ‘Operating mode’ .
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-5 EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 314
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