TPM
207-D533-NN User Manual
37
5.
Process Data Objects (PDOs)
The CANOpen over EtherCAT protocol allows the user to map objects to PDOs (Process Data Objects) in
order to use the PDO for real-time data transfer. The PDO mappings define which objects will be included in
the PDOs. PDO is composed of RxPDO transferring from master to slave and TxPDO transferring from slave
to master.
Note The object updates by the PDO should not carry out updating by SDO because the data of SDO
will be covered by the data of PDO.
PDO types Sender Receiver
TxPDO
Slave
Master
RxPDO
Master
Slave
5.1
TxPDO List [Slave transmits data to Master]
5.1.1
48-Ch. Digital Inputs (6000h)
Index
Sub-
Index
Name/Description
Units Range
Data
Type
Acc-
ess
PDO
OP
Mode
Save to
EEPROM
6000h 48 Channels Digital Inputs
0x01
Port_0
CH0-CH1 -> Bit0-Bit7
–
0 - 255
U8
ro
TxPDO
OP
No
0x02
Port_1
CH0-CH1 -> Bit0-Bit7
–
0 - 255
U8
ro
TxPDO
OP
No
0x03
Port_2
CH0-CH1 -> Bit0-Bit7
–
0 - 255
U8
ro
TxPDO
OP
No
0x04
Port_3
CH0-CH1 -> Bit0-Bit7
–
0 - 255
U8
ro
TxPDO
OP
No
0x05
Port_4
CH0-CH1 -> Bit0-Bit7
–
0 - 255
U8
ro
TxPDO
OP
No
0x06
Port_5
CH0-CH1 -> Bit0-Bit7
–
0 - 255
U8
ro
TxPDO
OP
No
