ABB FECA-01 EtherCAT, Руководство пользователя

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108 Appendix A – CoE Object Dictionary
1601 0 RxPDO 2 map U8 RW Number of mapped ob-
jects (0...8).
Write access in the
PREOP state only. FBA
1 - U32 RW Rx PDO 2 mapping en-
try 1.
Value 0x60400010 =
object 6040 Control-
word, length 16 bits. FBA
2 - U32 RW Rx PDO 2 mapping en-
try 2.
Value 0x607A0020 =
object 607A Target po-
sition, length 32 bits. FBA
… … U32 RW Value 0 = none FBA
8 - U32 RW Rx PDO 2 mapping en-
try 8.
Value 0 = none. FBA
1602 0 RxPDO 3 map U8 RW Number of mapped ob-
jects (0...8).
Write access in the
PREOP state only. FBA
1 - U32 RW Rx PDO 3 mapping en-
try 1.
Value 0x60400010 =
object 6040 Control-
word, length 16 bits. FBA
2 - U32 RW Rx PDO 3 mapping en-
try 2.
Value 0x60FF0020 =
object 60FF Target ve-
locity, length 32 bits. FBA
… … U32 RW Value 0 = none FBA
8 - U32 RW Rx PDO 3 mapping en-
try 8.
Value 0 = none. FBA
Index SI Name Type Ac-
cess
Information NVS