13.4 PDO Mappings
13.4.1 Setting Procedure for PDO Mappings
13-7
13
EtherCA
T Communications
13.4.1
Setting Procedure for PDO Mappings
1.
Disable the assignments between the Sync Manager and PDOs.
(Set subindex 0 of objects 1C12h to 1C13h to 0.)
2.
Set all of the mapping entries for the PDO mapping objects.
(Set objects 1600h to 1603h and 1A00h to 1A03h.)
3.
Set the number of mapping entries for the PDO mapping objects.
(Set subindex 0 of objects 1600h to 1603h and 1A00h to 1A03h.)
4.
Set the assignments between the Sync Manager and PDOs.
(Set subindex 1 of objects 1C12h to 1C13h.)
5.
Enable the assignments between the Sync Manager and PDOs.
(Set subindex 0 of objects 1C12h to 1C13h to 1.)
13.4.2
Default PDO Mappings
The following table shows the default PDO mappings for the SERVOPACK.
These initial settings are also defined in the EtherCAT slave information file (XML format).
•
1st PDO Mapping (Position, Velocity, Torque, Torque Limit, and Touch Probe)
•
2nd PDO Mapping (Cyclic Synchronous Position): Default PDO Assignments
•
3rd PDO Mapping (Cyclic Synchronous Velocity)
•
4th PDO Mapping (Cyclic Synchronous Torque)
RxPDO
(1600h)
Controlword
(6040h)
Target position
(607Ah)
Target
velocity
(60FFh)
Target
torque
(6071h)
Max torque
(6072h)
Mode of
operation
(6060h)
Padding
(8 bits)
Touch
probe
function
(60B8h)
TxPDO
(1A00h)
Statusword
(6041h)
Position actual
value (6064h)
Torque
actual
value
(6077h)
Following
error actual
value
(60F4h)
Modes of
operation
display
(6061h)
Padding
(8 bits)
Touch
probe
status
(60B9h)
Touch
probe
value
(60BAh)
RxPDO
(1601h)
Controlword
(6040h)
Target position
(607Ah)
TxPDO
(1A01h)
Statusword
(6041h)
Position actual
value (6064h)
RxPDO
(1602h)
Controlword
(6040h)
Target velocity
(60FFh)
TxPDO
(1A02h)
Statusword
(6041h)
Position actual
value (6064h)
RxPDO
(1603h)
Controlword
(6040h)
Target torque
(6071h)
TxPDO
(1A03h)
Statusword
(6041h)
Position actual
value (6064h)
Torque
actual
value
(6077h)
