LS ELECTRIC L7NHF Series, User Manual

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3. EtherCAT Communication
3-6
The setting values of the RxPDO (0x1600) are as follows:
SubIndex Setting Value
0 0x02 (2 values assigned)
Bit 31~16(Index) Bit 15~8(Sub index) Bit 7~0(Bit size)
1 0x6040 0x00 0x10
2 0x607A 0x00 0x20
This is an example when assigning the Statusword, the Position Actual Value, and the Actual Velocity
Value with the TxPDO (0x1A00).
Index SubIndex Name
Data
Type
0x6041 0x00 Statusword UINT
0x6064 0x00 Position Actual Value DINT
0x606C 0x00 Velocity Actual Value DINT
The TxPDO (0x1A00) settings are as follows:
SubIndex Setting Value
0 0x03 (3 values assigned)
Bit 31~16(Index) Bit 15~8(Sub index) Bit 7~0(Bit size)
1 0x6041 0x00 0x10
2 0x6064 0x00 0x20
3 0x606C 0x00 0x20
The Sync Manager can be composed of multiple PDOs. The Sync Manager PDO Assign Object
(RxPDO:0x1C12, TxPDO:0x1C13) indicates the relationship between the SyncManager and the PDO.
The following figure shows an example of SyncManager PDO mapping: