Drive User Guide
21
7. PDO Mapping
User is able to change the data transmitted through the process data communication between the
master and slave stations based on the requirements. Receiving the process data communication is able
to implement through set up the receiving objects separately from RxPDO mapping objects 0x1600 to
0x1602. Transmitting the process data communication is able to implement through set up the data
objects to be transmitted from TxPDO mapping objects 0x1A00 to 0x1A03. The chart shown below is the
data objects layout for the pre-set up process data communication. Take RxPDO mapping object 0x1600
as example to layout 3 ea data objects. The maximum numbers of data object allowed by the drive for
the user to layout are 5 sets.
Mapping
Objects
Data Objects
RxPDO
(0x1600)
ControlWord
(0x6040)
Target
Position
(0x607A)
Mode of
Operation
(0x6060)
No
Layout
No
Layout
TxPDO
(0x1A00)
StatusWord
(0x6041)
Position
Actual
value
(0x6064)
Velocity Actual
value
(0x606C)
No
Layout
No
Layout
If the user requires the dynamic configuration of process data communication, the drive shall be
positioned as the Pre-Operational phase of EtherCAT state machine and process through the mailbox
data communication. Processing steps are shown as follows:
Shut off PDO layout of Sync Manager
Through set up the content of zero sub-index of communication object 0x1C12 and
0x1C13 to zero to complete. Use 0x1C12 object as the PDO layout for Sync Manager of RxPDO.
0x1C13 uses as the PDO layout for Sync Manager of TxPDO.
Set up Required Data Objects
If the data objects are to be transmitted through RxPDO, it may designate the content of
the first to the fifth sub-index of mapping objects 0x1600
、
0x1601 or 0x1602. Likewise, if it is
TxPDO, then designate the data objects to the first to the fifth sub-index of 0x1A00
、
0x1A01 or
0x1A02.
Set up Numbers of Layout Data Object of Specific Mapping Object
For example, RxPDO mapping object 0x1600 has been layout the dada object to be
mapped from the first sub-index to the forth sub-index, then the zero sub-index of 0x1600 has
to set up to 4.
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