ABB RECA-01, Руководство пользователя

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Communication
53
Default receive PDO mapping
Default transmit PDO mapping
In EtherCAT, the PDOs are transported inside Sync Manager
Channel objects. RECA-01 has two sync manager channels for
process data: SM 2 for output data (Rx data) and SM 3 for input
data (Tx data). Changing the Sync manager PDO assignments is
only possible in the pre-operational state. RECA-01 does not
support transmitting PDOs acyclicly via the Mailbox interface.
The Rx PDO mappings are configured with CoE objects 0x1600,
0x1605 and 0x1614 (hex) and Tx PDO mappings with objects
0x1A00, 0x1A05 and 0x1A14 (hex). The format of the PDO
mapping is described in table
Format of the PDO mapping
(example for drive parameter 12.02) on page 54 . Rx and Tx Sync
Manager PDO assignments are configured with CoE objects
0x1C12 and 0x1C13 (hex), respectively. By default, PDO1 is
enabled and assigned to the sync managers.
Mapped
object
Rx PDO 1 Rx PDO 6 Rx PDO 21
1 0×6040 (hex) Control
Word 0×6040 (hex) Control
Word 0×2005 (hex)
Transparent
Control Word
2 0×6042 (hex) vl target
velocity 0×2006 (hex)
Transparent
reference
Mapped
object
Tx PDO 1 Tx PDO 6 Tx PDO 21
1 0×6041 (hex) Status
Word 0×6041 (hex) Status
Word 0×2007 (hex)
Transparent
Status Word
2 0×6044 (hex) vl velocity
actual value 0×2008 (hex)
Transparent
actual value