12.4 PDO Mappings
12-6
12.4
PDO Mappings
The process data that is used in process data communications is defined in the PDO map-
pings. POD mappings are definitions of the applications objects that are sent with PDOs.
The PDO mapping tables are in indexes 1600 hex to 1603 hex for the RxPDOs and indexes
1A00 hex to 1A03 hex for the TxPDOs in the object dictionary.
The following figure shows an example of PDO mappings.
In addition to the above PDO mappings, PDOs have to be assigned to the Sync Managers to
exchange EtherCAT process data.
The Sync Manager PDO assignment objects (1C12 hex and 1C13 hex) establish the relation-
ship between these PDOs and the Sync Managers.
The following figure shows an example of a Sync Manager and the PDO mappings.
CAUTION
The PDO mapping objects (indexes 1600 hex to 1603 hex and 1A00 hex to 1A03 hex) and
the Sync Manager PDO assignment objects (index 1C12 hex and 1C13 hex) can be written
only in Pre-Operation state.
Object Dictionary
Index
Subindex
Object Contents
0x1A00
1
2
3
8
8
16
0x1A00
0x1A00
0x6TTT
0x6UUU
0x6VVV
0x6YYY
0x6ZZZ
0xTT
0x6TTT 0xTT
0x6UUU 0xUU
0xYYYY 0xYY
PDO length: 32 bits
PDO_1
Object
D
Object
B
Object
A
Object A
Object B
Object C
Object D
Object E
0xVV
0xUU
0xYY
0xZZ
Mapping objects
Application objects
0x1C13
0x1C13
1
2
0x1A00
0x1A01
0x1A02
0x1A03
0x1A00
0x1A01
Sync Manager Entity z
PDO_1
PDO_2
PDO_1
PDO_2
PDO_3
PDO_4
Sync Manager PDO
Assignment objects
Object Dictionary
Index
Subindex
Object Contents
Mapping
objects
