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4.3
PDO default mapping
The servo amplifier supports the variable PDO mapping function, which can select objects transmitted and
received in PDO communication. For changing the PDO mapping, refer to the following.
Page 17 Variable PDO mapping
RxPDO default mapping
With the RxPDO default mapping, a master station (controller) transmits command data to a slave station (servo amplifier)
using an RxPDO in the array shown in the following table.
Map No.
Initial mapping settings
1st RxPDO map (1600h)
Modes of operation (Obj. 6060h)
Padding (1 byte)
Controlword (Obj. 6040h)
Control DI 1 (Obj. 2D01h)
Control DI 2 (Obj. 2D02h)
Control DI 3 (Obj. 2D03h)
Target position (Obj. 607Ah)
Target velocity (Obj. 60FFh)
Velocity limit value (Obj. 2D20h)
Target torque (Obj. 6071h)
2nd RxPDO map (1601h)
Modes of operation (Obj. 6060h)
Padding (1 byte)
Controlword (Obj. 6040h)
Control DI 1 (Obj. 2D01h)
Control DI 2 (Obj. 2D02h)
Control DI 3 (Obj. 2D03h)
Target position (Obj. 607Ah)
Target velocity (Obj. 60FFh)
Velocity limit value (Obj. 2D20h)
Target torque (Obj. 6071h)
Profile velocity (Obj. 6081h)
Profile acceleration (Obj. 6083h)
Profile deceleration (Obj. 6084h)
Torque slope (Obj. 6087h)
3rd RxPDO map (1602h)
Modes of operation (Obj. 6060h)
Padding (1 byte)
Controlword (Obj. 6040h)
Control DI 1 (Obj. 2D01h)
Control DI 2 (Obj. 2D02h)
Control DI 3 (Obj. 2D03h)
Target point table (Obj. 2D60h)
Profile velocity (Obj. 6081h)
Profile acceleration (Obj. 6083h)
Profile deceleration (Obj. 6084h)
4th RxPDO map (1603h)
Unassigned
Applications expected to be used for initial mapping
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Homing mode (hm)
This initial mapping is for an application in which the modes above are
switched and used.
The following function can be used together.
• Speed limit function (in cst)
Map size: 24 bytes
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
This initial mapping is for an application in which the modes above are
switched and used.
The following function can be used together.
• Speed limit function (in tq)
Map size: 42 bytes
Point table mode (pt)
JOG operation mode (jg)
Homing mode (hm)
This initial mapping is for an application in which the modes above are
switched and used.
Map size: 24 bytes
4 PDO (Process Data Object) COMMUNICATION
4.3 PDO default mapping
4
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