Omron CJ1W- ECT21, Operation Manual

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Appendices
A - 16 CJ-series EtherCAT Slave Units Operation Manual (W541)
The PDO mapping objects for the EtherCAT Slave Unit are listed in the following table.
Subindexes 01 hex and on give the mapped application object information.
The indexes from 1700 to 1703 hex are for receive PDO mapping objects for the EtherCAT Slave Unit.
• These objects store the RxPDO entries.
A-4-5 PDO Mapping Objects
Index (hex) Description
1700 to 1703 Receive PDO mappings
1B00 to 1B03 Transmit PDO mappings
Receive PDO Mapping Objects for the EtherCAT Slave Unit
Index
(hex)
Subin-
dex
(hex)
Object name Default Data range Unit
Data
attri-
bute
Size Access
PDO
mapping
Complete
access
1700 --- 257th receive
PDO Mapping --- --- --- --- --- --- --- Possible
0 Number of
objects in this
PDO 19 hex 19 hex --- --- 1 byte
(U8) RO Not possi-
ble ---
1 1st Output Object
to be mapped 70000110
hex 70000110 hex --- --- 4 byte
(U32) RO Not possi-
ble ---
2 2nd Output
Object to be
mapped 70000210
hex 70000210 hex --- --- 4 byte
(U32) RO Not possi-
ble ---
Sub indexes 3 to 18
19 25th Output
Object to be
mapped 70001910
hex 70001910 hex --- --- 4 byte
(U32) RO Not possi-
ble ---
Bits 16 to 31: Index of the assigned object
Bits 8 to 15: Subindex of the assigned object
Bits 0 to 7: Bit length of the assigned object (i.e., a bit length of 32 bits is given as 20 hex)
0 7 8 5 1 6 1 1 3
Index Subindex
Bit length
MSB LSB