Sync Manager Pdo Assignment Settings - Omron GX-ID1611 User Manual

5 EtherCAT Communications
The figure below shows 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
5-4-3

Sync Manager PDO Assignment Settings

A sync manager channel consists of several PDOs. The sync manager PDO assignment objects
describe how these PDOs are related to the Sync Manager.
The number of PDOs is given in sub-index 0 of the sync manager PDO assignment table.
In this table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.
The figure below shows an example of sync manager PDO mapping.
Index
Sub
1C1Z hex
1C1Z hex
1C1Z hex
1A00 hex
1A01 hex
1A02 hex
1A03 hex
1A04 hex
1A05 hex
1A06 hex
5 - 6
Object contents
6TTT hex TT hex 8
6UUU hex UU hex
8
6YYY hex YY hex 16
PDO-Length : 32 Bit
PDO_1
Object A
Object B
Object C
Object D
Object E
Object contents
1 1A00 hex
2
1A01 hex
3
1A03 hex
PDO A
PDO B
PDO C
PDO D
PDO E
PDO F
PDO G
Object A Object B Object D
Sync manager entity Z
PDO A PDO B PDO D
GX-series EtherCAT Slave Unit User's Manual