AKD EtherCAT | 5 Appendix
Subindex
2
Name
transmission type
Category
mandatory
Access
R/W
PDO Mapping
not possible
Value Range
UNSIGNED8
Default Value
FFh
Subindex 2 contains the transmission type of the PDO. There are two ways of setting:
l
the value FFh or 255 for event-triggered PDO, which is directly interpreted by reception
and taken into actions,
l
values from 0 to 240, which cause a SYNC-telegram-controlled interpretation of the PDO
contents. Values of 1 to 240 mean, that 0 to 239 SYNC-telegrams are ignored, before one
is interpreted. The value 0 means, that only the next SYNC-telegram is interpreted.
5.3.21 Objects 1600-1603h: 1st - 4th RxPDO mapping parameter (DS301)
1600h to 1603h for RxPDO 1 to 4.
Index
1600h
1601h
1602h
1603h
Name
receive PDO mapping
Object Code
RECORD
Data Type
PDO Mapping
Category
mandatory
Subindex
0
Name
highest sub-index supported
Data type
UNSIGNED8
Category
mandatory
Access
R/W
PDO Mapping
not possible
Value Range
0: PDO is not active
1 - 8: PDO activated, mappings are taken only byte-wise
Default Value
PDO1: 1
PDO2: 2
PDO3: 2
PDO4: 2
Subindex
1 - 8
Name
PDO - mapping for the n-th application object
Category
Conditional, depends on number and size of object be mapped
Access
R/W
PDO Mapping
not possible
Value Range
UNSIGNED32
Default Value
See below
106
Kollmorgen | kdn.kollmorgen.com | October 2017
