Communication Protocol; Changed (Page 87): Process Data Objects - ABB EtherCAT FECA-01 Manual Del Usuario

Communication protocol

CHANGED (page 87): Process Data Objects

The following table shows the default Rx PDO mapping:
Rx PDO Mapping object
1 1600
2 1601
3 1602
4 1603
6 1605
1)
21 1614
1)
Default mapping with ACS880 and ACS580:
2101 ABB Drives control word
2102 ABB Drives REF1
2103 ABB Drives REF2
The following table shows the default Tx PDO mapping:
Tx PDO Mapping object
1 1A00
2 1A01
3 1A02
4 1A03
6 1A05
1)
21 1A14
1)
Default mapping with ACS880 and ACS580:
2104 ABB Drives status word
2105 ABB Drives ACT1
2106 ABB Drives ACT2
Object index Object name
6040 Controlword
-
6040 Controlword
607A Target position
6040 Controlword
60FF Target velocity
6040 Controlword
6071 Target torque
6040 Controlword
6042 vl target velocity
2001 Transparent CW
2002 Transparent REF1
2003 Transparent REF2
Object index Object name
6041 Statusword
-
6041 Statusword
6064 Position actual value
6041 Statusword
6064 Position actual value
6041 Statusword
6064 Position actual value
6077 Torque actual value
6041 Statusword
6044 vl velocity actual value
2004 Transparent SW
2005 Transparent ACT1
2006 Transparent ACT2
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