Pdo Mapping Data Details; Output Notification Data (Communications Master To Ej1 Ethercat Slave Unit) - Omron EJ1 EtherCAT User Manual

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications
5-4

PDO Mapping Data Details

This section provides details on the PDO mapping data. It is separated into Output Notification Data,
Input Notification Data, and Sysmac Error Status.
Note The data in the PDO entry name, I/O port name column in the following tables match the PDO entry names
and I/O port names (i.e., the names assigned to variables on the Sysmac Studio if you use an NJ/NX-series
communications master) in the PDO mapping. However, the I/O port name column lists only the I/O port
names.
5-4-1 Output Notification Data (Communications Master to EJ1 Ether-
CAT Slave Unit)
The following data is cyclically output from the communications master to the EJ1 EtherCAT Slave Unit.
PDO entry
name, I/O port Object name
name
Output SID
Output SID
Input SID Input SID
Response
Response
Output Data Type Output Data
Type
Output Sub Info Output Sub
Info
Output Data Output Data
Length Length
5 - 8
*1 *2
Size
Type ,
*3 USINT 1 byte
USINT 1 byte
*4
WORD 2 bytes
WORD 2 bytes
UINT 2 bytes
R/W Function
R/W This parameter tells
the EJ1 EtherCAT
Slave Unit whether or
not the Output Notifi-
cation Data was
updated.
R/W This is a response
parameter to the
Input SID (update
notification for Input
Notification Data) in
the Input Notification
Data.
• The EJ1 EtherCAT
Slave Unit will not
send notification of
the next Input Data
until the Input SID
Response and
Input SID match.
The last value is
retained.
R/W This entries specifies
the control command
relationship and the
send data status.
R/W Reserved area
R/W This entry gives the
byte size of data sent
as Output Data.
EJ1 EtherCAT Slave Unit User's Manual (H192)
Value Default
00 hex: Initial state 00 hex
01 hex to FF hex:
The Output SID is
incremented each
time data is sent by
user programming.
The value returns to
01 hex after FF hex.
00 hex: Initial state 00 hex
01 hex to FF hex: Set
SID with user pro-
gramming.
Refer to the Output 0000 hex
Data Type on page
5-9 for details.
0000 hex
0 to 80 0000 hex