Process Data Objects (Pdos); Pdo Mapping Settings - Omron R88D-KN series User Manual

5 EtherCAT Communications
5-4

Process Data Objects (PDOs)

The process data objects (PDOs) are used to transfer data during cyclic communications in realtime.
PDOs can be reception PDOs (RxPDOs), which receive data from the controller, or transmission PDOs
(TxPDOs), which send status from the Servo Drive to the host controller.
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 object and the Sync
manager PDO assignment object.
G5-series Servo Drives support PDO mapping for position control.
5-4-1

PDO Mapping Settings

The PDO mapping indicates the mapping for application objects (realtime process data) between the
object dictionary and PDO.
The number of mapped objects is described in sub-index 00 hex of the mapping table. In this mapping
table, 1600 hex to 17FF hex are for RxPDOs and 1A00 hex to 1BFF hex are for TxPDOs.
G5-series Servo Drives can use up to two mappings in 1600 hex and 1701 to 1705 hex for an RxPDO
and in 1A00 hex, 1B01 to 1B04 hex, and 1BFF hex for a TxPDO, respectively.
The following table is an example of PDO mapping.
Object Dictionary
Index Sub
1ZZZ Hex 01 Hex
1ZZZ Hex 02 Hex
1ZZZ Hex 03 Hex
6TTT Hex TT Hex
6UUU Hex UU Hex
6VVV Hex VV Hex
6YYY Hex YY Hex
6ZZZ Hex ZZ Hex
5-6
RxPDO
Operation command, target position, etc.
TxPDO
Operation status, actual position, etc
Object contents
6TTT Hex TT Hex 8
6UUU Hex UU Hex 8
YYYY Hex YY Hex 16
PDO_1
Object A
Object B
Object C
Object D
Object E
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Servo Drive
PDO-Length: 32 bits
Object A Object B Object D