User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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3.1.8 Objects 1A00
h
: Transmit PDO Mapping Parameter
This object contains the mapping parameters for the TPDO the device is able to transmit. The sub-index 00
h
contains the number of valid entries within the mapping record. This number of entries is also the number
of the application variables which shall be transmitted with the corresponding TPDO. The sub-indices from
01
h
to the number of entries contain the information about the mapped application variables. These
entries describe the PDO contents by their index, sub-index and length.
Object Description
Index Name Object Type Data Type
1A00
h
Transmit PDO mapping parameter RECORD PDO Mapping
Table 20: Object Description (1A00
h
)
Entry Description
Sub-index Description Access Value Range Default Value
00
h
Number of
mapped aapli-
cation objects in
PDO
rw 0. . . 9 6
01
h
Mapping entry 1 rw UNSIGNED32 60410010
h
02
h
Mapping entry 2 rw UNSIGNED32 60610008
h
03
h
Mapping entry 3 rw UNSIGNED32 60640020
h
04
h
Mapping entry 4 rw UNSIGNED32 60770010
h
05
h
Mapping entry 5 rw UNSIGNED32 606C0020
h
06
h
Mapping entry 6 rw UNSIGNED32 60FD0020
h
07
h
Mapping entry 7 rw UNSIGNED32 0
h
08
h
Mapping entry 8 rw UNSIGNED32 0
h
09
h
Mapping entry 9 rw UNSIGNED32 0
h
Table 21: Entry Description (1A00
h
)
3.1.9 Objects 1C00
h
: Sync Manager Communication Type
This object describes the communication types of the EtherCAT sync managers. The types of the first four
synch managers are normally fixed and should not be changed. Sync managers can have the following for
communication types:
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