Omron 3G3AX-MX2-ECT, User Manual

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3 - 5
3 Common Slave Specifications
EtherCAT Communication Unit USER’S MANUAL (3G3AX-MX2-ECT)
3-3 Pr
ocess
Data Ob
jects (PDO)
3
3-3-3 Sync Manager PDO Assignme
nt Setting
s
A Sync Manager channel consists of several PDOs. The Sync Manager PDO assignment objects
describe how these PDOs are related to the Sync Manager.
The number of PDOs is given in sub-index 00 hex of the Sync Manager PDO assignment table. In this
table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.
The following table is an example of Sync Manager PDO mapping.
This section describes the contents of fixed PDO mapping for MX2 inverters. The contents of fixed
PDOs cannot be changed.
3-3-3 Sync Manager PDO Assignment Settings
3-3-4 Fixed PDO Mapping
PDO mapping for speed control (independent profile)
RxPDO
(1701 hex) 5000 hex Command
5010 hex Frequency reference
TxPDO
(1B01 hex) 5100 hex Status
5110 hex Output frequency monitor
PDO mapping for speed control (CiA402 profile)
RxPDO
(1700 hex) 6040 hex Controlword
6042 hex vl target velocity
TxPDO
(1B00 hex) 6041 hex Statusword
6043 hex vl velocity demand
Index Sub O b ject content s
1C1Z hex
1C1Z hex
1C1Z hex
1A00 hex
1A01 hex
1A0 3 hex
PDO A
PDO B
PDO C
PDO F
PDO E
PDO D
PDO G
PDO A PDO B PDO D
1A00 hex
1A01 hex
1A02 hex
1A0 3 hex
1A04 hex
1A05 hex
1A06 hex
1 hex
2 hex
3 hex
S
ync M
a
n
a
ger PDO
ass
ignment o
b
ject
s
O b ject diction a ry
M
a
pping o
b
ject
s
S ync M a n a ger entity Z