Leadshine EL8-EC Series, Руководство пользователя

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User manual of EL8-EC***F AC Servo
297
PDO dynamic mapping
Different from CIA DS301, CoE uses PDO specified objects (1C12h/1C13h) to configure
PDO mapped objects (1600h~1603h/1A00h~1A01h) to PDO SyncManager
(SyncManager 2/3). PDO specified objects are defined in table 7.4
Table 7.4 PDO specifies object definitions
Index Sub-index Range Data type Access
RXPDO
(1C12h)
00h 0~4 U8*1) RO *2)
01h
1600h~1603h
U16 RW
02h U16 RW
03h U16 RW
04h U16 RW
TXPDO
(1C13h)
00h 0~2 U8 RO
01h
1A00h~1A01h
U16 RW
02h U16 RW
** 1) U represents unsigned type, such as U8 for unsigned 8 bits and U16 for unsigned 16
bits
2) Access: RO = Read Only, RW = Read and Write, WO = Write Only
PDO dynamic mapping setup procedure
B
、
Switch EtherCAT state machine to pre-operational, then PDO map can be
configured using SDO.
C
、
Clear the PDO mapping object of the PDO specified object by setting 1C12-00h /
1C13-00h to 0.
D
、
Invalidate the PDO mapping object by assigning 0 to the subindex 0 of
1600h~1603h /1A00h~1A01h.
E
、
Reconfigure PDO mapping content and write the mapping object into the objects in
the range of 1600-01h~1600-08h, 1601-01h~1601-08h, 1602-01h~1602-08h,
03-01h~1603-08h (RXPDO mapping content as from 1600h-01), 00-01h ~
1A00-08h or 1A01-01h~1A01-08h (TXPDO mapping content as from 1A00h-01)
according to Table 6.3
F
、
Set the total number of PDO mapping objects by writing the number of mapping
objects into 1600-00h, 1601-00h, 1602-00h, 1603-00h, 1A00-00h or 1A01-00h.
The total number of PDO mapping objects without mapping content will be set to
0.
G
、
Write valid PDO mapping object index to PDO specified object by writing valid
RXPDO mapping object index 1600h~1603h into 1C12-01h ~ 1C12-04h and
writing valid TXPDO mapping object index 1A00h, 1A01h into 1C13-01h,
1C13-02h.
H
、
Set the total number PDO specified objects by writing the number of mapped
objects to 1C12-00h and 1C13-00h.
I
、
Switch EtherCAT state to Safe-Operational or above, the configured PDO
mapping will be valid.