LSIS XDL-L7NH Series, User Manual, Page: 64 / 348

3. EtherCAT Communication
3-6
SubIndex
Setting values
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 to assign the Statusword, the Actual Position Value, and the Actual Velocity Value
with the TxPDO (0x1A00).
Index SubIndex Name Data Type
0x6041 0x00 Statusword UINT
0x6064 0x00 Actual Position Value DINT
0x606C 0x00 Velocity Actual Value DINT
The setting values of the TxPDO (0x1A00) are as follows:
SubIndex
Setting values
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 the SyncManager PDO mapping: