Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 EtherCAT Mode
12-21
12
12.2.4.2 Set PDO mapping
Take the second group of PDO configuration OD 1601 and OD 1A01 as an example.
The settings are as follows:
1. Disable the PDO configuration: set OD 1C12 sub 0 to 0 (RxPDO) and OD 1C13 sub 0 to 0
(TxPDO).
2. Disable the PDO mapping setting: set OD 1600 sub 0 to 0 (RxPDO) and OD 1A01 sub 0 to
0 (TxPDO).
3. Set the contents and number of RxPDO mappings: set OD 1601 sub 1 to sub 5 (RxPDO)
for the content and set OD 1601 sub 0 to 5 (RxPDO) for the number of RxPDO mappings.
Mapping
parameter setting
for RxPDO
Data Description
OD 1601 sub1 6040h 00h 10h
Control command (6040h), data length is
16-bit
OD 1601 sub2 607Ah 00h 20h Target position (607Ah), data length is 32-bit
OD 1601 sub3 60FFh 00h 20h Target velocity (60FFh), data length is 32-bit
OD 1601 sub4 6071h 00h 10h Target torque (6071h), data length is 16-bit
OD 1601 sub5 60B8h 00h 10h
Touch Probe setting (60B8h), data length is
16-bit
OD 1601 sub0 5 Set 5 for the number of RxPDO mappings
4. Set the contents and number of TxPDO mappings: set OD 1A01 sub 1 to sub 7 (TxPDO)
for the content and set OD 1A01 sub 0 to 7 (TxPDO) for the number of TxPDO mappings.
Mapping
parameter setting
for TxPDO
Data Description
OD 1A01 sub1 6041h 00h 10h Statusword (6041h), data length is 16-bit
OD 1A01 sub2 6064h 00h 20h
Position actual value (6064h), data length is
32-bit
OD 1A01 sub3 606Ch 00h 20h
Velocity actual value (606Ch), data length is
32-bit
OD 1A01 sub4 6077h 00h 10h
Torque actual value (6077h), data length is
16-bit
OD 1A01 sub5 60B9h 00h 10h
Touch Probe Status (60B9h), data length is
16-bit
OD 1A01 sub6 60BAh 00h 20h
Touch Probe Pos1 Pos Value (60BAh), data
length is 32-bit
OD 1A01 sub7 60FDh 00h 20h Digital inputs (60FDh), data length is 32-bit
OD 1A01 sub0 7 Set 7 for the number of TxPDO mappings
5. Set the PDO mapping configuration: set OD 1C12 sub 1 to 0x1601 (RxPDO) and OD 1C13
sub 1 to 0x1A01 (TxPDO).
6. Enable the PDO configuration: set OD 1C12 sub 0 to 1 (RxPDO) and OD 1C13 sub 0 to 1
(TxPDO).