Omron NX-ECC201 User Manual page 351

 PDO Group Mapping Example
An example of PDO group mapping is provided below.
Configuration Example
#0 #1
(4 bytes) (2 bytes),
Coupler Bit
Top line: NX Unit number
Middle line: Data size
Bottom line: PDO group
Mappings for Configuration Example
Bit
Offset
15
+0
+1
+2
+3
+4
+5 #7
+6
P
I/O Refreshing
This section describes I/O refreshing.
 I/O Refreshing with a Master from Another Manufacturer That Does Not Sup-
port DC Synchronization
In this case, EtherCAT Slave Terminals can operate only in Free-Run Mode.
NX Units that support Synchronous I/O refreshing and Free-Run refreshing can operate in the
Free-Run Mode with Free-Run refreshing.
To operate an EtherCAT Slave Terminal in Free-Run Mode, set up communications in the software
from the other manufacturer so that the EtherCAT Slave Terminal operates in Free-Run Mode. NX
Units that support synchronous I/O refreshing and Free-Run refreshing are automatically set to use
Free-Run refreshing when you set up communications on the software from another manufacturer
so that the EtherCAT Slave Terminal operates in Free-Run Mode.
NX-series EtherCAT Coupler Unit User's Manual (W519)
#2 #3 #4 #5
(2 bytes), (1 bit), (2 bits), (1 byte),
Word Bit Bit Bit
#6
Reserved.
#6 #7 #8 End
(4 bits), (4 bits), (2 bytes), Cover
Bit Bit Word
Bit Bit
8 7
#0
#2
#8
#1
#5
Appendices
Bit
PDO group
0
Coupler
Word
Bit
#4 #3
#7
A - 11
A