6.2.16 1800h
PDO_TxCommParam_16h_REC
This object describes attributes of PDO Communication for
RPDO. Object indices describe the Node ID and PDO
Mapping Version. Mapping Version must be set by config-
uration tool depending on PDO mapping. Access is read/
write. Mapping version 0 indicates that no mapping
version is available.
Index, sub-index
Meaning
1400h 0
Number of sub-index supported
1400h 1
NodeID_U8
1400h 2
MappingVersion_U8
Table 6.16 1800h PDO_TxCommParam_16h_REC
6.2.17 1A00h
PDO_TxMappParam_00h_AU64
This objects indices describe mapping of object contained
in RPDO payload to object dictionary entries.
Index, sub-index
Meaning
1A00h0
Number of sub-index supported
1A00h1
12-22 Process Data Config Read, [0] Index
1A00h2
12-22 Process Data Config Read, [1] Index
1A00h3
12-22 Process Data Config Read, [2] Index
1A00h4
12-22 Process Data Config Read, [3] Index
1A00h5
12-22 Process Data Config Read, [4] Index
1A00h6
12-22 Process Data Config Read, [5] Index
1A00h7
12-22 Process Data Config Read, [6] Index
1A00h8
12-22 Process Data Config Read, [7] Index
1A00h9
12-22 Process Data Config Read, [8] Index
1A00h10
12-22 Process Data Config Read, [9] Index
Table 6.17 1A00h PDO_TxMappParam_00h_AU64
For every PDO channel up to ten objects is be mapped.
The offset related to the start address of the PDO payload
and the length of data is provided for every mapped
object.
Octet offset Name
Description
0-1
Index
Index of the object to be mapped
2
Sub-index Sub-index of the object to be mapped
3
Reserved
4-5
Offset
Offset related to start of PDO payload
(Bit count)
6-7
Length
Length of the mapped object (Bit count)
Table 6.18 Description of Octet Offset
Table 6.19
shows.
MSB
Bits
63 .. 48
47 .. 32
31 .. 24
23 .. 16
Name
Length
Offset
Reserved Sub-index
Encoding UNSIGNED16 UNSIGNED16 -
UNSIGNED8
LSB
15 .. 0
Index
UNSIGNED16
Table 6.19 Internal Mapping of PDO Mapping Entry
6.2.18 1C0Ah DLL_CNCollision_REC
This object contains information regarding collisions on the
network.
Index, sub-index
Meaning
1C0Ah 0
Number of entries
1C0Ah 1
CumulativeCnt_U32
1C0Ah 2
ThresholdCnt_U32
1C0Ah 3
Threshold_U32
Table 6.20 1C0Ah DLL_CNCollision_REC
6.2.19 1C0Bh DLL_CNLossSoC_REC
This object contains information regarding loss of SoC on
the network.
Index, sub-index Meaning
1C0Bh 0
Number of entries
1C0Bh 1
CumulativeCnt_U32, [0]
12-68 Cumulative
Counters
1C0Bh 2
ThresholdCnt_U32, [0]
12-67 Threshold Counters
1C0Bh 3
Threshold_U32, [0]
12-66 Threshold
Table 6.21 1C0Bh DLL_CNLossSoC_REC
6.2.20 1C0Fh DLL_CNCRCError_REC.
This object contains information regarding “CRC Errors” on
the network. CumulativeCnt_U32 increases with one each
time a CRC error occurs. CumulativeCnt_U32 decrements
with one for each cycle without an error. When Cumula-
tiveCnt_U32 is equal or larger than ThresholdCnt_U32, the
drive issues Warning 34 in the display.
Index, sub-index Meaning
1C0Fh 0
Number of entries
1C0Fh 1
CumulativeCnt_U32, [5]
12-68 Cumulative
Counters
1C0Fh 2
ThresholdCnt_U32, [5]
12-67 Threshold Counters
1C0Fh 3
Threshold_U32, [5]
12-66 Threshold
Table 6.22 1C0Fh DLL_CNCRCError_REC.
Communication Profile Area
MCA 123 POWERLINK Operating Instructions
28
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