PDO assignment

PDO assignment of sync managers, EL1502

SM2, PDO assignment 0x1C12

Index

Index of excluded PDOs

Size (byte.bit)

Name

PDO content

0x1600

0x1602

6.0

CNT Outputs
Channel 1
Operating mode 4

Index 0x7000:01 - Enable output function
Index 0x7000:02 - Set output
Index 0x7000:03 - Set counter
Index 0x7000:04 - Inhibit counter
Index 0x7000:11 - Set counter value

0x1601

0x1602

6.0

CNT Outputs
Channel 2
Operating mode 4

Index 0x7010:01 - Enable output function
Index 0x7010:02 - Set output
Index 0x7010:03 - Set counter
Index 0x7010:04 - Inhibit counter
Index 0x7010:11 - Set counter value

0x1602 (default)

0x1600, 0x1601

6.0

CNT Outputs
Operating mode 1, 2, 3

Index 0x7020:01 - Enable output function
Index 0x7020:02 - Set output
Index 0x7020:03 - Set counter
Index 0x7020:04 - Inhibit counter
Index 0x7020:11 - Set counter value

 

SM3, PDO assignment 0x1C13

Index

Index of excluded PDOs

Size (byte.bit)

Name

PDO content

0x1A00

0x1A02

6.0

CNT Outputs
Channel 1
Operating mode 4

Index 0x6000:01 - Output function enabled
Index 0x6000:02 - Status of output
Index 0x6000:03 - Set counter done
Index 0x6000:04 - Counter inhibited
Index 0x6000:06 - Status of input clock
Index 0x1800:09 - TxPDO Toggle
Index 0x1C32:20 – Sync error*
Index 0x6000:11 - Counter value

0x1A01

0x1A02

6.0

CNT Outputs
Channel 2
Operating mode 4

Index 0x6010:01 - Output function enabled
Index 0x6010:02 - Status of output
Index 0x6010:03 - Set counter done
Index 0x6010:04 - Counter inhibited
Index 0x6010:06 - Status of input clock
Index 0x1C32:20 – Sync error*
Index 0x1801:09 - TxPDO Toggle
Index 0x6010:11 - Counter value

0x1A02 (default)

0x1A00, 0x1A01

6.0

CNT Outputs
Operating mode 1, 2, 3

Index 0x6020:01 - Output function enabled
Index 0x6020:02 - Status of output
Index 0x6020:03 - Set counter done
Index 0x6020:04 - Counter inhibited
Index 0x6020:05 - Status of input UD
Index 0x6020:06 - Status of input clock
Index 0x1C32:20 – Sync error*
Index 0x1802:09 - TxPDO Toggle
Index 0x6020:11 - Counter value

*From FW 02