Omron R88D-1SN01H-ECT, Руководство пользователя

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5 EtherCAT Communications
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-4 Proc
ess Dat
a Object
s (PD
O
s)
5
5-
4-1 PDO Mapping Settings
5-4 Process Data Objects (PDOs)
The process data objects (PDOs) are used for real-time data transfer during cyclic communications.
PDOs can be RxPDOs, which receive data from the controller, or TxPDOs, which send status from the
Servo Drive to the host controller.
The EtherCAT application layer can hold multiple objects to enable transferring Servo Drive process
data. The contents of the process data are described in the PDO mapping objects and the Sync Man-
ager PDO Assignment objects.
The PDO mapping objects provide mapping for the application objects (real-time process data)
between the object dictionary and PDOs.
The number of mapped objects is shown in subindex 00 hex in the mapping table. In this mapping
table, 1600 to 17FF hex are for RxPDOs and 1A00 to 1BFF hex are for TxPDOs.
1S-series Servo Drives use 1600 hex, 1701 to 1705 hex, and 1710 hex for an RxPDO, and 1A00 hex,
1B01 to 1B04 hex, 1B10 hex, and 1BFF hex for a TxPDO.
The following table is an example of PDO mapping.
5-4-1 PDO Mapping Settings
RxPDO
TxPDO
Host
Controller
Operation status and
actual values
Operation commands and
target values
Servo
Drive
Object A Object B Object D
PDO_1
6TTT hex
ZZ hex
6UUU hex
6VVV hex
6YYY hex
UU hex
VV hex
YY hex
TT hex Object A
Object B
6ZZZ hex
Object C
Object D
Object E
Application Object
Mapping Object
Object Dictionary
Index Sub
6UUU hex UU hex
16
Object contents
1ZZZ hex
1ZZZ hex
1ZZZ hex
01 hex
02 hex
03 hex
6TTT hex TT hex
YYYY hex YY hex
8
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