Wachendorff WDGA Series, Technical Manual, Page: 25 / 69

Technical Manual
WDGA with EtherCAT
4 - EtherCAT
© Wachendorff Automation GmbH & Co. KG 17 Rev.1.09
Object Name Idx Description Data size
(bit)
ro
rw
co
Map Default
10F3h Diagnosis
history 00h Contains the last 5
diagnosis messages
Unsigned8 rw no 05h
01h Max. Nr. of
messages
Unsigned8 ro 20h
02h Subindex of recent
message
Unsigned8 ro 00h
03h Subindex of last
confirmed message
Unsigned8 ro 00h
04h New message Bool ro false
05h Flags Unsigned16 ro 0000h
06h
..
25h
Message 1..32 Unsigned64 ro 0000 0000h
1A00h 1st TPDO
mapping
parameter 00h Defines the PDO
mapping for the first
TPDO
Unsigned8 rw no 05h
01h 1st Output object
Default object: 6004h
Position value
Unsigned32 rw 6004 0020h
02h 2nd Output object,
Default: 6030h Speed
Unsigned32 rw 6030 0110h
03h 3rd Output object,
Default: 6503h
Alarms
Unsigned32 rw 6503 0010h
04h 4th Output object,
Default: 6505h
Warnings
Unsigned32 rw 6505 0010h
05h 5th Output object
Default: 1001h
Error register
Unsigned32 rw 1001 0008h
Inactive
through sub-
index 00h 06h
to
08h
Mapping of object 6-8
in the application Unsigned32 rw
Table 4.4: Object directory 10F3h - 1A00h