Omron GRT1-ECT SmartSlice, Руководство по эксплуатации

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2 EtherCAT Communication details
GRT1-series EtherCAT Communication Unit - Operation Manual
2-3
P
ro
cess Dat
a Objec
ts (
P
DO)
2
2-
3-3 Sync Manager
PDO Assignme
nt Setting
s
The figure below shows an example of PDO mapping.
A sync manager channel consists of several PDOs. The sync manager PDO assignment objects
describe how these PDOs are related to the Sync Manager.
The number of PDOs is given in sub-index 0 of the sync manager PDO assignment table.
In this table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.
The figure below shows an example of sync manager PDO mapping.
The PDO mapping of the GRT1-ECT depends on the connected SmartSlice I/O units and is detected
and configured automatically by the GRT1-ECT. The PDO mapping can also be configured by the
connected EtherCAT master. However the written configuration must be equal to the actual
configuration of the GRT1-ECT to start the communication between the EtherCAT master and the
GRT1-ECT.
2-3-3 Sync Manager PDO Assignment Settings
2-3-4 PDO Mapping for GRT1-ECT
1ZZZ hex
1ZZZ hex
1ZZZ hex
6TTT hex
6UUU hex
6VVV hex
6YYY hex
6ZZZ hex
02 hex
03 hex
01 hex
TT hex
UU hex
VV hex
YY hex
ZZhex
6UUU hex UU hex
6TTT hex TT hex
6YYY hex YY hex
8
16
8
Object B
Object C
Object A
Object E
Object D
Object A Object B Object D
PDO-Length : 32 Bit
PDO_1
Index
Sub Object contents
Mapping objects
Application objects
Object dictionary
1C1Z hex
1C1Z hex
1C1Z hex
2
3
1
PDO B
PDO C
PDO A
PDO E
PDO D
PDO A PDO B PDO D
Index
Sub Object contents
Sync manager PDO
assignment objects
Mapping objects
1A00 hex
1A01 hex
1A02 hex
1A03 hex
1A04 hex
PDO G
PDO F 1A05 hex
1A06 hex
1A00 hex
1A01 hex
1A03 hex
Sync manager entity Z