AKD EtherCAT | 4 EtherCAT Profile
A list of possible objects for the mapping will be shown and a new entry can be chosen.
In this case the setpoint for the interpolated
position mode is selected.
The same is valid for the Tx-PDO-direction.
Here the value of the actual internal position
is selected.
This results in the startup-SDO-list for this sample free-mapped-configuration.
The meaning of the data (for example 0x60410010 in the mapping of 0x1A00 sub 1) is as fol-
lows:
l
0x6041 is the index of the DS402 status word
l
0x00 is the subindex of the DS402 status word
l
0x10 is the number of bits for this entry, i. e. 16 bits or 2 bytes.
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Kollmorgen | kdn.kollmorgen.com | October 2017
