12.4 PDO Mappings
12.4.1 Setting Procedure for PDO Mappings
12-7
12
EtherCA
T Communications
12.4.1
Setting Procedure for PDO Mappings
1.
Disable the assignments between the Sync Manager and PDOs.
(Set subindex 0 of objects 1C12 hex to 1C13 hex to 0.)
2.
Set all of the mapping entries for the PDO mapping objects.
(Set objects 1600 hex to 1603 hex and 1A00 hex to 1A03 hex.)
3.
Set the number of mapping entries for the PDO mapping objects.
(Set subindex 0 of objects 1600 hex to 1603 hex and 1A00 hex to 1A03 hex.)
4.
Set the assignments between the Sync Manager and PDOs.
(Set subindex 1 of objects 1C12 hex to 1C13 hex.)
5.
Enable the assignments between the Sync Manager and PDOs.
(Set subindex 0 of objects 1C12 hex to 1C13 hex to 1.)
12.4.2
Default PDO Mappings
The following table shows the default PDO mappings for the SERVOPACK.
These initial settings are also defined in the EtherCAT slave information file (XML format).
•
1st PDO Mapping (Position, Velocity, Torque, Torque Limit, and Touch Probe)
•
2nd PDO Mapping (Cyclic Synchronous Position): Default PDO Assignments
•
3rd PDO Mapping (Cyclic Synchronous Velocity)
•
4th PDO Mapping (Cyclic Synchronous Torque)
RxPDO
(1600 hex)
Controlword
(6040 hex)
Target position
(607A hex)
Target
velocity
(60FF hex)
Target
torque
(6071 hex)
Max torque
(6072 hex)
Mode of
operation
(6060 hex)
Padding
(8 bits)
Touch
probe
function
(60B8
hex)
TxPDO
(1A00 hex)
Statusword
(6041 hex)
Position actual
value (6064 hex)
Torque
actual
value
(6077 hex)
Following
error actual
value (60F4
hex)
Modes of
operation
display
(6061 hex)
Padding
(8 bits)
Touch
probe
status
(60B9 hex)
Touch
probe
value
(60BA
hex)
RxPDO
(1601 hex)
Controlword
(6040 hex)
Target position
(607A hex)
TxPDO
(1A01 hex)
Statusword
(6041 hex)
Position actual
value (6064 hex)
RxPDO
(1602 hex)
Controlword
(6040 hex)
Target velocity
(60FF hex)
TxPDO
(1A02 hex)
Statusword
(6041 hex)
Position actual
value (6064 hex)
RxPDO
(1603 hex)
Controlword
(6040 hex)
Target torque
(6071 hex)
TxPDO
(1A03 hex)
Statusword
(6041 hex)
Position actual
value (6064 hex)
Torque
actual
value
(6077 hex)
