5. Perform the following settings for the Receive PDOs:
Outputs: 1st Receive PDO
Module 1 (SGD7). 1st Receive PDO Module 2 (SGD7). 1st Receive PDO
Name: Module 1 (SGD7). 1st Receive PDO mapping Name: Module 2 (SGD7). 1st Receive PDO mapping
Index: 0x1600 Index: 0x1610
Flags: Everything de-activated
Direction RxPdo (Output): activated
Exclude: 1601, 1602, 1603: de-activated 1611, 1612, 1613: de-activated
Please note these settings, otherwise the PDO mappings can not be activated at the same time!
Entries Module 1 (axis 1) Module 2 (axis 2) Bit length
Name Index Index
Control word 0x6040:00 0x6840: 00 16bit
Target position 0x607A:00 0x687A: 00 32bit
Target velocity 0x60FF:00 0x68FF: 00 32bit
Modes of operation 0x6060:00 0x6860: 00 8bit
--- --- --- 8bit
Touch probe function 0x60B8:00 0x68B8: 00 16bit
Outputs: 2nd Receive PDO
Module 1 (SGD7). 2nd Receive PDO Module 2 (SGD7). 2nd Receive PDO
Name: Module 1 (SGD7). 2nd Receive PDO mapping Name: Module 2 (SGD7). 2nd Receive PDO mapping
Index: 0x1601 Index: 0x1611
Flags: Everything de-activated
Direction RxPdo (Output): activated
Exclude: 1600, 1602, 1603: de-activated 1610, 1612, 1613: de-activated
Please note these settings, otherwise the PDO mappings can not be activated at the same time!
Entries Module 1 (axis 1) Module 2 (axis 2) Bit length
Name Index Index
Profile velocity 0x6081:00 0x6881: 00 32bit
Profile acceleration 0x6083:00 0x6883: 00 32bit
Profile deceleration 0x6084:00 0x6884: 00 32bit
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 372
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