ABB FECA-01 EtherCAT, Руководство пользователя

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94 Communication protocol
The following table shows the default Rx PDO mapping:
The following table shows the default Tx PDO mapping:
Rx PDO Mapping object Object index Object name
1 1600 6040
- Controlword
2 1601 6040
607A Controlword
Target position
3 1602 6040
60FF Controlword
Target velocity
4 1603 6040
6071 Controlword
Target torque
6 1605 6040
6042 Controlword
vl target velocity
21
1)
1614 2001
2002
2003 Transparent CW
Transparent REF1
Transparent REF2
1)
Default mapping with ACS880 and ACS580:
2101 ABB Drives control word
2102 ABB Drives REF1
2103 ABB Drives REF2
Tx PDO Mapping object Object index Object name
1 1A00 6041
- Statusword
2 1A01 6041
6064 Statusword
Position actual value
3 1A02 6041
6064 Statusword
Position actual value
4 1A03 6041
6064
6077 Statusword
Position actual value
Torque actual value
6 1A05 6041
6044 Statusword
vl velocity actual value