ABB FECA-01 EtherCAT, Руководство пользователя

Страница: 113 / 148

Appendix A – CoE Object Dictionary 113
1A03 0 TxPDO 4 map U8 RW Number of mapped ob-
jects (0…8).
Write access in the
PREOP state only. FBA
1 - U32 RW Tx PDO 4 mapping en-
try 1.
Value 0x60410010 =
object 6041 Sta-
tusword, length 16 bits FBA
2 - U32 RW Tx PDO 4 mapping en-
try 2.
Value 0x60640020 =
object 6064 Position
actual value, length 32
bits FBA
3 - U32 RW Tx PDO 4 mapping en-
try 3.
Value 0x60770010 =
object 6077 Torque ac-
tual value, length 16
bits FBA
… … U32 RW Value 0 = none FBA
8 - U32 RW Tx PDO 4 mapping en-
try 8.
Value 0 = none FBA
Index SI Name Type Ac-
cess
Information NVS