Omron CJ1W- ECT21, Operation Manual

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4 EtherCAT Communications
CJ-series EtherCAT Slave Units Operation Manual (W541)
4-4 Proc
ess Dat
a Object
s (
P
D
O
s)
4
4-
4-3 Assigning PDOs
 TxPDO
This section provides details for assigning PDOs to an EtherCAT Slave.
You can assign more than one PDO to an EtherCAT slave.
Here, PDOs are assigned to index 1C12 hex for the RxPDO, and 1C13 hex for the TxPDO.
The following example shows how PDOs are assigned.
In this example, three PDOs (PDO A, PDO B, and PDO D) are assigned to index 1C13 hex (for the
TxPDOs).
Similarly, a PDO (for the RxPDO) is assigned to index 1C12 hex.
PDO mapping object
I/O Input Data Area object
*1
*1. The I/O Input Data Area object is the application object of the PDO mapping.
Description
Name Index number Name
Index
number
Sub-index
number
257th transmit
PDO Mapping 1B00 hex Input001
to
Input025 6000 hex 01 to 19 hex IN data area size is 50 bytes.
258th transmit
PDO Mapping 1B01 hex Input001
to
Input050 01 to 32 hex IN data area size is 100 bytes.
259th transmit
PDO Mapping 1B02 hex Input001
to
Input100 01 to 64 hex IN data area size is 200 bytes.
260th transmit
PDO Mapping 1B03 hex Input001
to
Input200 01 to C8 hex IN data area size is 400 bytes.
4-4-3 Assigning PDOs
Scheme for Assigning PDOs to EtherCAT Slaves
2
3
1
PDO B
PDO C
PDO A
PDO E
PDO D
PDO A
PDO B PDO D
Index
Sub-
index
Object contents
Sync Manager PDO
assignment objects
Mapping objects
PDO G
PDO F
Sync Manager entity Z
1C13 hex
1A00 hex
1A01 hex
1A02 hex
1A03 hex
1A04 hex
1A05 hex
1A06 hex
1A00 hex
1A01 hex
1A03 hex