Omron FH series User Manual page 53

PDO Mappings
PDO mapping objects contain the I/O data for the EtherCAT Slave Terminals. PDO mapping objects for the
RxPDOs are managed in the object dictionary from indexes 1600 to 17FF hex, and for the TxPDOs from indexes
1A00 to 1BFF hex.
PDO Mapping Scheme in EtherCAT
The PDO mapping scheme in EtherCAT is described below.
Three application objects (objects A, B, and D) are allocated to the PDO (name: PDO_1) at index 1ZZZ hex.
As described here, PDO mapping shows how application objects are assigned to PDOs.
Indexes and subindexes are also assigned to application objects.
Object Dictionary
Sub
Index
Index
1ZZZ hex 01 hex 6TTT hex TT hex
02 hex 6UUU hex UU hex
03 hex
6YYY hex YY hex
PDO-Length : 32 Bit
6TTT hex TT hex
UU hex
6UUU hex
6VVVHex VV hex
6YYY hex
YY hex
6ZZZHex
ZZ hex
PDO Mapping with EtherCAT Slave Terminals
An EtherCAT Slave Terminal has PDOs for the FH-series Vision Sensor and each NX Unit.
Application objects are assigned by default to the PDOs for each Unit.
The following diagram shows a specific example for one of the PDOs in an FH-series Vision Sensor.
Object Dictionary
Sub
Index
Index
hex 01 hex 2001
1BFF
hex hex
2001 01 Sysmac error status
*1. This is expressed as 0x2001:01 on the Sysmac Studio.
In the previous example, a single application object is assigned to the PDO at index 1BFF hex (name: 512th
transmit PDO mapping). This PDO is a TxPDO. The application object contains the Sysmac error status at
index 2001 hex and subindex 01 hex.
Vision System FH/FZ5 Series User's Manual
for Communications Settings (Z342)
Object Contents
8
8
16
PDO_1
Object A
Object B
Object C
Object D
Object E
Object Contents
hex 01 hex * 1 8
PDO-Length : 8 Bit
512th transmit PDO mapping
Object A Object B Object D
Sysmac error status
EtherCAT Connections (FH-1000 series/FH-3000 series only)
2
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