Festo EMCA-EC-67 CO Series, Description

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3 EtherCAT with FHPP
60 Festo – EMCA-EC-C-HP-EN – 2017-11e – English
3.7.8 Object 1A02
h
: 3
rd
transmit PDO mapping TxPDO3
Mapping for TxPDO3 is specified by the object.
The TxPDO3 transmits the FHPP+ data
è
Page 239.
Index Name Object
code
Data
type
Ac­
cess
PDO
map­
ping
Value
range
Default value
1A02
h
3
rd
transmit PDO mapping REC – – – – –
00
h
Number of objects in this
PDO
VAR UINT8 rw no 08
h
08
h
01
h
1
st
input object to be
mapped
VAR UINT8 rw no Tab. 3.40 32010008
h
02
h
2
nd
input object to be
mapped
VAR UINT8 rw no 32020008
h
03
h
3
rd
input object to be
mapped
VAR UINT8 rw no 32030008
h
04
h
4
th
input object to be
mapped
VAR UINT8 rw no 32040008
h
05
h
5
th
input object to be
mapped
VAR UINT8 ro no 32050008
h
06
h
6
th
input object to be
mapped
VAR UINT8 ro no 32060008
h
07
h
7
th
input object to be
mapped
VAR UINT8 ro no 32070008
h
08
h
8
th
input object to be
mapped
VAR UINT8 ro no 32080008
h
Tab. 3.39 Object 1A02
h
Sub-index Byte Description
FHPP+ data with FPC
(default)
FHPP+ data without FPC
01
h
1 FHPP+ Byte 1 FHPP+ Byte 9
02
h
2 FHPP+ Byte 2 FHPP+ Byte 10
03
h
3 FHPP+ Byte 3 FHPP+ Byte 11
03
h
4 FHPP+ Byte 4 FHPP+ Byte 12
04
h
5 FHPP+ Byte 5 FHPP+ Byte 13
04
h
6 FHPP+ Byte 6 FHPP+ Byte 14
04
h
7 FHPP+ Byte 7 FHPP+ Byte 15
04
h
8 FHPP+ Byte 8 FHPP+ Byte 16
Tab. 3.40 Value range: … input object to be mapped