A - 31
Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-
1 CiA40
2 Drive Prof
ile
A
A-1
-9 PDO Mapping Obje
cts
Indexes 1600 to 17FF hex are used for Receive PDO mapping and indexes 1A00 to 1BFF hex are
used for Transmit PDO mapping. Sub-indexes after sub-index 01 hex provide information about the
application object being mapped.
A-1-9
PDO Mapping Objects
31
16 15
8 7
0
Index
Sub-index
Bit length
MSB
LSB
Bits 0 to 7:
Bit length of the mapped object. (For example, for 32 bits, 20 hex is given.)
Bits 8 to 15:
Sub-index of the mapped object.
Bits 16 to 31:
Index of the mapped object.
1600 hex
1st receive PDO Mapping
Sub-index 00 hex
Number of objects in this PDO
Setting
range
00 to 0A hex
Unit
–
Default
setting
03 hex
Data
attribute
D
Size
1 byte (U8)
Access
RW
PDO map
Not possible
Sub-index 01 hex
PDO entry 1 (1st Output Object to be mapped)
Setting
range
–
Unit
–
Default
setting
6040 0010 hex
Data
attribute
D
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
Sub-index 02 hex
PDO entry 2 (2nd Output Object to be mapped)
Setting
range
–
Unit
–
Default
setting
607A 0020 hex
Data
attribute
D
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
Sub-index 03 hex
PDO entry 3 (3rd Output Object to be mapped)
Setting
range
–
Unit
–
Default
setting
60B8 0010 hex
Data
attribute
D
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
Sub-index 04 hex
PDO entry 4 (4th Output Object to be mapped)
Setting
range
–
Unit
–
Default
setting
0000 0000 hex
Data
attribute
D
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
Sub-index 05 hex
PDO entry 5 (5th Output Object to be mapped)
Setting
range
–
Unit
–
Default
setting
0000 0000 hex
Data
attribute
D
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
Sub-index 06 hex
PDO entry 6 (6th Output Object to be mapped)
Setting
range
–
Unit
–
Default
setting
0000 0000 hex
Data
attribute
D
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
Sub-index 07 hex
PDO entry 7 (7th Output Object to be mapped)
Setting
range
–
Unit
–
Default
setting
0000 0000 hex
Data
attribute
D
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
Sub-index 08 hex
PDO entry 8 (8th Output Object to be mapped)
Setting
range
–
Unit
–
Default
setting
0000 0000 hex
Data
attribute
D
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
Sub-index 09 hex
PDO entry 9 (9th Output Object to be mapped)
Setting
range
–
Unit
–
Default
setting
0000 0000 hex
Data
attribute
D
Size
4 bytes (U32)
Access
RW
PDO map
Not possible
A l l
