15.3 PDO Mapping Objects
15-9
15
Object Dictionary
15.3
PDO Mapping Objects
The CANopen over EtherCAT protocol allows the user to map objects to process data objects
(PDOs) in order to use the PDOs for realtime data transfer.
The PDO mappings define which objects will be included in the PDOs.
A mapping entry (subindexes 1 to 8) is defined as shown below.
Bits 0 to 7: The length of the mapped object in bits. (If there is a gap in the PDOs, the bit length
of the gap is given.)
Bits 8 to 15: The subindex of the mapped object (0 if there is a gap in the PDOs).
Bits 16 to 31: The index of the mapped object (0 if there is a gap in the PDOs).
Receive PDO Mapping (1600h to 1603h)
1st Receive PDO Mapping
The objects mapped to PDOs can be changed only when the EtherCAT (CoE) Network Mod-
ule is in the Pre-Operational state.
Set the mapping entries (subindexes 1 to 8) only after you write 0 to subindex 0.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
1600h
0
Number of objects in this
PDO
USINT
RW
No
0 to 8
(default: 8)
Yes
1
Mapping entry 1
UDINT
RW
No
0 to
0xFFFFFFFF
(default:
0x60400010)
Yes
2
Mapping entry 2
UDINT
RW
No
0 to
0xFFFFFFFF
(default:
0x607A0020)
Yes
3
Mapping entry 3
UDINT
RW
No
0 to
0xFFFFFFFF
(default:
0x60FF0020)
Yes
4
Mapping entry 4
UDINT
RW
No
0 to
0xFFFFFFFF
(default:
0x60710010)
Yes
5
Mapping entry 5
UDINT
RW
No
0 to
0xFFFFFFFF
(default:
0x60720010)
Yes
6
Mapping entry 6
UDINT
RW
No
0 0xFFFFFFFF
(default:
0x60600008)
Yes
7
Mapping entry 7
UDINT
RW
No
0 to
0xFFFFFFFF
(default:
0x00000008)
Yes
8
Mapping entry 8
UDINT
RW
No
0 to
0xFFFFFFFF
(default:
0x60B80010)
Yes
Length
Subindex
Object index
Bit 31
16 15
8
7
0
Information
