2 mapping indices and codes, Mapping indices and codes, 8process data transfer – Lenze E94AYCET User Manual
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Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17
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8
Process data transfer
8.1
Configuring process data (PDO mapping)
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8.1.2
Mapping indices and codes
The settings caused by the previous steps result in mapping indices that are required for the
configuration of the master and are stored as codes.
The mapping indices always show the currently valid PDO mapping for the drive and are displayed
on CoE objects 0x1600 (RPDOs) and 0x1A00 (TPDOs) on the EtherCAT.
10 mapping channels each are available for RPDOs and TPDOs. Only one channel at a time can be
activated by the EtherCAT master.
Note!
• If the PDO mapping is set via the »Engineer«, the EtherCAT configuration software
must load the mapping from the drive in order that it can be written back to the drive
when the network is started.
This ensure that the mapping indices in the EtherCAT master and slave are identical.
• The mapping codes must not be modified by the user.
Slot in the Servo
Drive 9400
Code
Correspondent CoE
object
Description
MXI1
...
0x1600.01..0x20
...
0x1609.01..0x20
Mapping entries
RPDO-1 ... 10
...
0xA100.01..0x20
...
0xA109.01..0x20
Mapping entries
TPDO-1 ... 10
0x1C12.01
Active RPDO channel
...
0x1600.00
...
0x1609.00
Number of RPDO mapping entries
RPDO-1 ... 10
0x1C13.01
Active TPDO channel
...
0x1A00.00
...
0x1A09.00
Number of TPDO mapping entries
TPDO-1 ... 10
MXI2
...
0x1600.01..0x20
...
0x1609.01..0x20
Mapping entries
RPDO-1 ... 10
...
0xA100.01..0x20
...
0xA109.01..0x20
Mapping entries
TPDO-1 ... 10
0x1C12.01
Active RPDO channel
...
0x1600.00
...
0x1609.00
Number of RPDO mapping entries
RPDO-1 ... 10
0x1C13.01
Active TPDO channel
...
0x1A00.00
...
0x1A09.00
Number of TPDO mapping entries
TPDO-1 ... 10