A-4-5 Pdo Mapping Objects - Omron CJ1W- ECT21 Operation Manual

Appendices
A-4-5 PDO Mapping Objects
The PDO mapping objects for the EtherCAT Slave Unit are listed in the following table.
Index (hex)
1700 to 1703
1B00 to 1B03
Subindexes 01 hex and on give the mapped application object information.
3 1
MSB
Bits 16 to 31: Index of the assigned object
Bits 8 to 15: Subindex of the assigned object
Bits 0 to 7: Bit length of the assigned object (i.e., a bit length of 32 bits is given as 20 hex)
Receive PDO Mapping Objects for the EtherCAT Slave Unit
The indexes from 1700 to 1703 hex are for receive PDO mapping objects for the EtherCAT Slave Unit.
Subin-
Index
dex Object name
(hex)
(hex)
1700 --- 257th receive
PDO Mapping
0 Number of
objects in this
PDO
1 1st Output Object
to be mapped
2 2nd Output
Object to be
mapped
Sub indexes 3 to 18
19 25th Output
Object to be
mapped
• These objects store the RxPDO entries.
A - 16
Receive PDO mappings
Transmit PDO mappings
1 6 1 5
Index Subindex
Default Data range
--- ---
19 hex 19 hex
70000110 70000110 hex
hex
70000210 70000210 hex
hex
70001910 70001910 hex
hex
Description
8 7 0
Bit length
LSB
Data
Unit attri- Size Access
bute
--- --- --- ---
--- --- 1 byte RO
(U8)
--- --- 4 byte RO
(U32)
--- --- 4 byte RO
(U32)
--- --- 4 byte RO
(U32)
CJ-series EtherCAT Slave Units Operation Manual (W541)
PDO Complete
mapping access
--- Possible
Not possi- ---
ble
Not possi- ---
ble
Not possi- ---
ble
Not possi- ---
ble