Oriental motor aSTEP AZ mini Driver, User Manual

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Communications specifications
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PDO mapping object
Up to 16 objects can be mapped in a single PDO.
Receive PDO mapping object Transmit PDO mapping object
Receive PDO Index Transmit PDO Index
RxPDO1 1600h TxPDO1 1A00h
RxPDO2 1601h TxPDO2 1A01h
Objects to be mapped in PDO are as follows.
Objects of profile area Objects of manufacturer-specific area
6000h to 67FFh 4000h to 4FFFh
The configuration of objects is as follows.
Index (Hex) Object Overview
1000h to 1FFFh CoE Communication Area CoE communication area
2000h to 3FFFh
Manufacturer-Specific Area
Not used
4000h to 4FFFh Driver object
5000h to 5FFFh Not used
6000h to 67FFh Profile Area Profile area
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Sync manager 2 and Sync manager 3 PDO assignment objects
The SM (Sync Manager Channel) PDO assignment objects set the relationship between PDO and Sync Manager.
The Sync manager 2 PDO assignment (1C12h) is the assignment object dedicated to the receive PDO. The Sync
manager 3 PDO assignment (1C13h) is the assignment object dedicated to the transmit PDO.
Objects of up to 64 bytes can be assigned.
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Setting of PDO mapping object
The PDO mapping can be changed when the ESM is Pre-Operational. Change the PDO mapping in the following
steps.
1. Set the number of entries of the Sync manager 2 and Sync manager 3 PDO assignment objects to 0.
2. Set the number of entries of the PDO mapping object to 0.
3. Change the PDO mapping object.
4. Change the number of entries of the PDO mapping object to the number of objects mapped in the step 3.
5. Change the Sync manager 2 and Sync manager 3 PDO assignment objects.
6. Change the number of entries of the Sync manager 2 and Sync manager 3 PDO assignment objects to the number
assigned in the step 5.