Process Data Objects (Pdos); Pdo Mapping Settings - Omron OMNUC G5 Series User Manual

5-4 Process Data Objects (PDOs)

5-4 Process Data Objects (PDOs)

The process data objects (PDOs) are used to transfer data during cyclic communications in
realtime. PDOs can be reception PDOs (RxPDOs), which receive data from the controller, or
transmission PDOs (TxPDOs), which send status from the Servo Drive to the host controller.
The EtherCAT application layer can hold multiple objects to enable transferring Servo Drive
process data. The contents of the process data are described in the PDO Mapping object and
the Sync manager PDO assignment object.
OMNUC G5-series Servo Drives support PDO mapping for position control.
5

PDO Mapping Settings

The PDO mapping indicates the mapping for application objects (realtime process data)
between the object dictionary and PDO. The number of mapped objects is described in sub-
index 0 of the mapping table. In this mapping table, 1600 hex to 17FF hex are for RxPDOs and
1A00 hex to 1BFF hex are for TxPDOs.
G5-series Servo Drives use 1701 hex for RxPDOs and 1B01 hex for the TxPDOs.
The following table is an example of PDO mapping.
5-5
RxPDO
Operation command, target position, etc.
Host
Controller
TxPDO
Operation status, actual position, etc
Object Dictionary
Index Sub Object contents
0x1ZZZ 0x01 0x6TTT 0xTT
0x1ZZZ 0x02 0x6UUU 0xUU
0x1ZZZ 0x03 0xYYYY 0xYY
0x6TTT 0xTT Object A
0x6UUU 0xUU Object B
0x6VVV 0xVV Object C
0x6YYY 0xYY Object D
0x6ZZZ 0xZZ Object E
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
8
8
16
PDO-Length: 32 bits
PDO_1
Object A Object B
Servo Drive
Object D