YASKAWA SI-ES3, Техническое руководство, Страница: 30 / 62

8 Object Dictionary
30 YASKAWA ELECTRIC SIEP C730600 64A 1000-Series Option SI-ES3 Technical Manual
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1600 (Hex) to 1628 (Hex) - Receive PDO Mapping
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1A00 (Hex) to 1A28 (Hex) - Transmit PDO Mapping
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1C00 (Hex) - Sync Manager Communication Type
Index (Hex) Subindex Content Access PDO Mapping Value Range
1600 to 1628
– Receive PDO mapping – – –
0
Number of mapped application
objects (0-8(2))
Read/Write No Unsigned 8
Value: 0-8 (Depends on RxPDO)
For default configurations per RxPDO please refer to
Table 16 .
Max Sub-index:
0x1600: 8
0x1601-0x1628: 2
Note: Write access to those objects are only allowed in the EtherCAT Pre-Operational state.
1 Mapped Object #1 Read/Write No Unsigned 32
2 Mapped Object #2 Read/Write No Unsigned 32
3 Mapped Object #3 Read/Write No Unsigned 32
n Mapped Object #n Read/Write No Unsigned 32
Index (Hex) Subindex Content Access PDO Mapping Value Range
1A00 to 1A28
– Transmit PDO mapping – – –
0
Number of mapped application
objects (0-8(2))
Read/Write No Unsigned 8
Value: 0-8 (Depends on TxPDO)
For default configurations per TxPDO please refer to
Table 15 .
Max Sub-index:
0x1A00: 8
0x1A01-0x1A28: 2
Note: Write access to those objects are only allowed in the EtherCAT Pre-Operational state.
1 Mapped Object #1 Read/Write No Unsigned 32
2 Mapped Object #2 Read/Write No Unsigned 32
3 Mapped Object #3 Read/Write No Unsigned 32
n Mapped Object #n Read/Write No Unsigned 32
Index (Hex) Subindex Content Access PDO Mapping Value Range
1C00
– Transmit PDO mapping – – –
0
Number of entries Read Only No Unsigned 8
Value: 4
1
Mailbox wr Read Only No Unsigned 8
Value: 1
2
Mailbox rd Read Only No Unsigned 8
Value: 2
3
Process data out Read Only No Unsigned 8
Value: 3
4
Process data in Read Only No Unsigned 8
Value: 4