Omron GX-AD0471, User Manual, Page: 73 / 394

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5 EtherCAT Communications
GX-series EtherCAT Slave Unit User’s Manual
5-
4 Process D
ata Obje
cts (
P
D
O
)
5
5-
4-4 F
ixed PDO Mapping
The tables below show the details of fixed PDO mapping for GX-series EtherCAT Slave Units.
Note that it is not possible to change fixed PDO details.
 PDO mapping for Digital I/O Slave Unit
Fixed PDO mapping of a Digital I/O Slave Unit is determined by the number of inputs and/or outputs
per Unit and whether or not Expansion Units are connected.
5-4-4 Fixed PDO Mapping
257th receive
PDO Mapping
(1700 hex)
8 outputs of Slave Unit
Write output 16-bit (6300 hex)
8 outputs of Expansion Unit only
16 outputs of Slave Unit only
16 outputs of Expansion Unit only
16 outputs of Slave Unit and 8
outputs of Expansion Unit (24
outputs in total)
Write output 32-bit (6320 hex) 32 outputs of Slave Unit only
16 outputs of Slave Unit and 16
outputs of Expansion Unit (32
outputs in total)
258th receive
PDO Mapping
(1701 hex)
8 outputs of Slave Unit
Write output bits (3220 hex)
8 outputs of Expansion Unit only
16 outputs of Slave Unit only
16 outputs of Expansion Unit only
16 outputs of Slave Unit and 8
outputs of Expansion Unit (24
inputs in total)
32 outputs of Slave Unit only
16 outputs of Slave Unit and 16
outputs of Expansion Unit (32
inputs in total)
257th transmit
PDO Mapping
(1B00 hex)
8 inputs of Slave Unit
Write output 16-bit (6100 hex)
8 inputs of Expansion Unit only
16 inputs of Slave Unit only
16 inputs of Expansion Unit only
16 inputs of Slave Unit and 8
inputs of Expansion Unit (24
inputs in total)
Write output 32-bit (6120 hex) 32 inputs of Slave Unit only
16 inputs of Slave Unit and 16
inputs of Expansion Unit (32
inputs in total)
258th transmit
PDO Mapping
(1B01 hex)
8 inputs of Slave Unit
Read input bits (3020 hex)
8 inputs of Expansion Unit only
16 inputs of Slave Unit only
16 inputs of Expansion Unit only
16 inputs of Slave Unit and 8
inputs of Expansion Unit (24
inputs in total)
32 inputs of Slave Unit only
16 inputs of Slave Unit and 16
inputs of Expansion Unit (32
inputs in total)