ASDA A2-E
Chapter 2 System Setup
2-14
Revision April, 2015
2.4 PDO Mapping
The PDO mapping Objects are allocated from index 0x1600 to 0x1603 for RxPDOs and
0x1A00 to 0x1A03 for TxPDOs in Object Dictionary.
2.4.1 Default PDO Mappings
The following tables are the default PDO mappings of ASDA A2-E CoE Drive for cyclic
data exchange and are also defined in EtherCAT Slave Information file (XML file).
1
st
PDO Mapping
RxPDO
(0x1600)
Control Word
(0x6040)
Target Position
(0x607A)
Target Velocity
(0x60FF)
Target Torque
(0x6071)
Mode of Operation
(0x6060)
TxPDO
(0x1A00)
Status Word
(0x6041)
Actual Position
(0x6064)
Actual Velocity
(0x606C)
Actual Torque
(0x6077)
Mode of Operation Display
(0x6061)
2
nd
PDO Mapping (default PDO assignment)
RxPDO
(0x1601)
Control Word
(0x6040)
Target Position
(0x607A)
TxPDO
(0x1A01)
Status Word
(0x6041)
Actual Position
(0x6064)
3
rd
PDO Mapping
RxPDO
(0x1602)
Control Word
(0x6040)
Target Velocity
(0x60FF)
TxPDO
(0x1A02)
Status Word
(0x6041)
Actual Position
(0x6064)
Actual Velocity
(0x606C)
