ESD EtherCAT ECX-EC E.3022.02, Manual

Page: 51 / 74

Software
6.3.1.9 Object 0x1400 – “RxPDO 0x1600 Parameter”
See also Object 0x1800 – “TxPDO 0x1A00 Parameter”.
Sub
index
Name Type Description
0x00 SubIndex000 USINT Max. number of sub indices (0x09)
0x07 RxPDO State BOOL Is set by the slave if the output variables could not be
copied to the opposite side. (Because this opposite side
is not in “SafeOp/Op”)
0x08 RxPDO Control BOOL Can be set by the master if the output data is not valid.
By default the ECX-EC ignores this value.
In object 0x2000 it can be defined to transfer this value
to the counterpart
Input data invalid (TxPDO state) of
the opposite side, see chapter 6.3.2.1
0x09 RxPDO Toggle BOOL Can be toggled by the master if the output data have
changed.
By default the ECX-EC ignores this value.
In object 0x2000 it can be defined to use this value to
optimise the copy process to the other side or to
transfer this value to the counterpart
Input data
changed (TxPDO Toggle) of the opposite side, see
chapter 6.3.2.1
6.3.1.10 Object 0x1600 – “Outputs”
Sub
index
Name Type Description
0x00 SubIndex000 USINT Max. number of sub indices
0x01..0xFF PDO Mapping PDO_MAPPING Output variables, see chapter “PDOs” (6.2.5.1)
6.3.1.11 Object 0x1605 – “Outputs PDO Parameters”
Sub
index
Name Type Description
0x00 SubIndex000 USINT Max. number of sub indices (0x04)
0x01 PDO Mapping PDO_MAPPING
See chapter “PDOs” (6.2.5.2)
0x02 PDO Mapping PDO_MAPPING
0x03 PDO Mapping PDO_MAPPING
0x04 PDO Mapping PDO_MAPPING
ECX-EC Manual • Doc. No.: E.3022.21 / Rev. 1.9 Page 51 of 74