Wachendorff WDGA 58A, Technical Manual

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Technical Manual
WDGA with EtherCAT
4 - EtherCAT
© Wachendorff Automation GmbH & Co. KG 22 Rev.1.09
Setup of sub-
index 01…08:
1A00h Sub-
index 01…08
Bit
31 …16 15 … 8 7 … 0
Contents
31 … 16
Index of the mapped object
15 … 8
Sub-index of the mapped object
7 … 0
Length of the mapped objects in bits
Table 4.13: Setup of sub-index 01 ... 08 of object 1A00h
4.3.2.9 1A01h
– 2nd TPDO mapping parameter
The second transmit PDO can also be dynamically configured. The standard mapping
of the second PDO is listed in the table below. Here too, the sub-indices are set up as
in Table 4.13.
Sub-idx Access Meaning
00 rw Number of mapped objects
Default value: 6
01 rw 1st Output object
Default object: 6008h High-resolution
position value
02 rw 2nd Output object,
Default: 6030h Speed
03 rw 3rd Output object,
Default: 6503h Alarms
04 rw 4th Output object,
Default: 6505h Warnings
05 rw 5th Output object,
Default: 6300h CAM state
06 rw 6th Output object,
Default: 6410h High-resolution work
area state
Table 4.14: 2nd transmit PDO default mapping (EtherCAT object 1A01h)