Omron Sysmac E3X-ECT, Operation Manual

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5 EtherCAT Communications
5 - 6 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual
The figure below shows an example of PDO mapping.
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 0 of the sync manager PDO assignment table.
In this table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.
The figure below shows an example of sync manager PDO mapping.
5-4-3 Sync Manager PDO Assignment Settings
1ZZZ hex
1ZZZ hex
1ZZZ hex
6TTT hex
6UUU hex
6VVV hex
6YYY hex
6ZZZ hex
02 hex
03 hex
01 hex
TT hex
UU hex
VV hex
YY hex
ZZ hex
6UUU hex UU hex
6TTT hex TT hex
6YYY hex YY hex
8
16
8
Object B
Object C
Object A
Object E
Object D
Object A Object B Object D
PDO-Length : 32 Bit
PDO_1
Index
Sub Object contents
Mapping objects
Application objects
Object dictionary
1C1Z hex
1C1Z hex
1C1Z hex
2
3
1
PDO B
PDO C
PDO A
PDO E
PDO D
PDO A PDO B PDO D
Index
Sub
Object contents
Sync manager PDO
assignment objects
Mapping objects
1A00 hex
1A01 hex
1A02 hex
1A03 hex
1A04 hex
PDO G
PDO F
1A05 hex
1A06 hex
1A00 hex
1A01 hex
1A03 hex
Sync manager entity Z