Festo EMCA-EC-67 CO Series, Description

Page: 54 / 416

3 EtherCAT with FHPP
54 Festo – EMCA-EC-C-HP-EN – 2017-11e – English
3.7.2 Object 1600
h
: 1
st
receive PDO mapping RxPDO1
Mapping for RxPDO1 is specified by the object.
The RxPDO1 transmits the FHPP standard data
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Page 123.
Index Name Object
code
Data
type
Ac­
cess
PDO
map­
ping
Value
range
Default value
1600
h
1
st
receive PDO mapping REC – – – – –
00
h
Number of objects in this
PDO
VAR UINT8 ro no 05
h
05
h
01
h
1
st
output object to be
mapped
VAR UINT8 ro no Tab. 3.28 30000008
h
02
h
2
nd
output object to be
mapped
VAR UINT8 ro no 30010008
h
03
h
3
rd
output object to be
mapped
VAR UINT8 ro no 30020008
h
04
h
4
th
output object to be
mapped
VAR UINT8 ro no 30030008
h
05
h
5
th
output object to be
mapped
VAR INT32 ro no 30040020
h
Tab. 3.27 Object 1600
h
Sub-index Byte Description
FHPP-Standard, control data
Record selection mode Direct mode
01
h
1 CCON CCON
02
h
2 CPOS CPOS
03
h
3 REC_NO, set number (setpoint) CDIR
04
h
4 Reserved DEM_VAL1/PARA1, setpoint value 1
05
h
5 Reserved DEM_VAL2/PARA2, setpoint value 2
(target) 6
7
8
Tab. 3.28 Value range: … output object to be mapped