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3. EtherCAT Communication
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3.2 PDO Mapping & Module
PDO Mapping is to set Application Object will be delivered and received by PDO communication.
3.2.1 PDO Mapping
Tx PDO Mapping information to be delivered to Master is to set at 1600h 1601h Object and Rx PDO
Mapping information to be received command from master is to set at 1A00h 1A01h Object.
Object ID value, Low level Index value, length of data (bit unit) of data that will be delivered and received are
recorded at Mapping Table.
RxPDO Mapping RxPDO 1
Figure 3.3: PDO Mapping
3.2.2 PDO Assign
PDO Assign is to set PDO Mapping Object will be assigned at SyncManager.
SyncManager
PDO Assign Object PDO Mapping Object
1C12h is object to assign Rx PDO and can assign one object among Rx PDO Object 1600h or 1601h. 1C13h is
object to assign Tx PDO and can assign one object among Tx PDO Object 1A00h or 1A01h.
Index Sub Object
0x1C12 1 0x1600
0x1C13 1 0x1A00
Object Name
0x1600 Rx PDO Map0
0x1601 Rx PDO Map1
…
0x1A00 Rx PDO Map0
0x1A01 Rx PDO Map1
Application Object List