Summa Series Servodrive Product Manual
EtherCAT Communications
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
5-5
5.3.4
Process Data Object (PDO)
The ED3S provides 4 RxPDOs and 4 TxPDOs, all of which support dynamic mapping. The mapping
objects are shown in Table 5-2.
Table 5-2
Process data mapping
PDOs
Mapping Objects
RxPDO 1 to RxPDO 4
1600h to 1603h
TxPDO 1 to TxPDO 4
1A00h to 1A03h
NOTE
: Each PDO Mapping can be assigned up to 8 objects, and the total assignment is not more than 32 bytes.
PDO Assignment
The
Sync Manager Channels SM2 is responsible for receiving the data from RxPDO, and Sync Manager
Channels SM3 is responsible for transmitting the data in TxPDO.
The Sync Manager PDO assignment objects (1C12h and 1C13h) establish the relationship between these
PDOs and the Sync Managers. The following figure shows an example that how to set the relationship
between SM3 and TxPDO through object 1C13h.
Index
1C13h
Subindex
01
Object Contents
1A00h
1C13h
02
1A01h
1A00h
TxPDO 1
1A01h
TxPDO 2
1A02h
TxPDO 3
1A03h
TxPDO 4
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Object Dictionary
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TxPDO 1
TxPDO 2
SM3
Channels Data
PDO Mapping
POD mappings are definitions of the applications objects that are sent with PDOs (RxPDOs and
TxPDOs).
The PDO mapping tables are in indexes 1600h to 1603h and 1610h to 1613h for the RxPDOs (RxPDO 1
to RxPDO 4) and indexes 1A00h to 1A03h and 1A10h to 1A13h for the TxPDOs (TxPDO 1 to TxPDO 4)
in the object dictionary.
Each PDO mapping object can be added up to 10 objects, and the total assignment is not more than 32
bytes. The following figure shows a mapping example of TxPDO 1. The mapping object is 1A00h.
