User guide

28 MDX-ETHERNET User Guide
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Table 7.3 Mapping for four cyclic data words
7.2.2 Three cyclic channels only (compression off)
This data format provides example of three cyclic data channels. The total data length is
six words OUT and six words IN. To select this data format, set Pr 15.40 and
Pr 15.39 = 3.
Table 7.4 Mapping for five cyclic channels
7.2.3 Three cyclic channels only (compression on)
This data format provides example of three cyclic data channels with compression on
(Pr 15.34 = ENABLED). The total data length is four words OUT and five words IN.
To select this data format, set Pr 15.40 and Pr 15.39 = 3.
Table 7.5 Mapping for five cyclic channels
Cyclic word Cyclic Data word length on master Mapping
Out channel 0 2 OUT (Word 0,1) +
Pr 15.20 = 642
Pr 6.42, Control word
Out channel 1 2 OUT (Word 2,3) +
Pr 15.21 = 121
Pr 1.21, Digital speed reference 1
In channel 0 2 IN (Word 0,1) +
Pr 15.10 = 1040
Pr 10.40, Status word
In channel 1 2 IN (Word 2,3)
Pr 15.11 = 201
Pr 2.01, Post ramp speed reference
Cyclic word Cyclic Data word length on master Mapping
Out channel 0 2 OUT (Word 0,1) +
Pr 15.20 = 642
Pr 6.42, Control word
Out channel 1 2 OUT (Word 2,3) +
Pr 15.21 = 121
Pr 1.21, Digital speed reference 1
Out channel 2 2 OUT (Word 3,4) +
Pr 15.22 = 211
Pr 2.11, Ramp
In channel 0 2 IN (Word 0,1) +
Pr 15.10 = 1040
Pr 10.40, Status word
In channel 1 2 IN (Word 2,3) +
Pr 15.11 = 201
Pr 2.01, Post ramp speed reference
In channel 2 2 IN (Word 3,4) +
Pr 15.12 = 402
Pr 4.02, Current
Cyclic word Cyclic Data word length on master Mapping
Out channel 0 1 OUT (Word 0) +
Pr 15.20 = 642
Pr 6.42, Control word
Out channel 1 2 OUT (Word 1,2) +
Pr 15.21 = 121
Pr 1.21, Digital speed reference 1
Out channel 2 1 OUT (Word 3) +
Pr 15.22 = 211
Pr 2.11, Ramp
In channel 0 1 IN (Word 0) +
Pr 15.10 = 1040
Pr 10.40, Status word
In channel 1 2 IN (Word 1,2) +
Pr 15.11 = 201
Pr 2.01, Post ramp speed reference
In channel 2 2 IN (Word 3,4)
Pr 15.12 = 402
Pr 4.02, Current