Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 EtherCAT Mode
12-53
12
Object 1600h - 1603h: Receive PDO mapping parameter
Index 1600h, 1601h, 1602h, 1603h
Name Receive PDO mapping
Object code RECORD
Data type PDO mapping
Access RW
Note
The total length of objects in a group of PDO cannot
exceed 64 bits.
Sub-index 0
Description Number of PDO mappings
Data type UNSIGNED8
Access RW
PDO mapping No
Setting range
0: disable
1 - 8: set the number of PDO mapping and enable
the function
Default 0
Sub-index 1 - 8
Description Specify the 1
st
(to 8
th
) object and its content to be
mapped
Data type UNSIGNED32
Access RW
PDO mapping No
Setting range UNSIGNED32
Default 0
The format of this object is as follows:
31 30 29 28 27 26 25 24
Bit
15 14 13 12 11 10 9 8
Bit
7 6 5 4 3 2 1 0
23 22 21 20 19 18 17 16
Bit Function
Bit 0 - Bit 7 Object data length
Bit 8 - Bit 15 Object sub-index
Bit 16 - Bit 31 Object index
Example:
To set three PDOs (OD 6040h, OD 607Ah, and OD 6060h) in the first group of PDO,
the setting is as follows.
Mapping
parameter
setting for
received PDO
Data Description
OD 1600 sub0 3 Set 3 PDO mappings.
OD 1600 sub1 6040h 00h 10h
Mapping control command (6040h),
data length is 16-bit