Pdo Mapping Configuration; Default Pdo Mapping Configuration - Delta ASDA-A3 Series User Manual

EtherCAT Mode

13.2.4 PDO mapping configuration

The PDO mapping objects are allocated from OD 1600h to OD 1603h for RxPDOs and OD
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1A00h to OD 1A03h for TxPDOs in the object dictionary. Each group of RxPDO and TxPDO
supports updating the PDO data for up to 8 sets of 32-bit objects.

13.2.4.1 Default PDO mapping configuration

The following tables show the default PDO mapping configuration of the EtherCAT servo drive
for data exchange. This is also defined in the XML file of the EtherCAT slave. You can modify
the PDO mapping configuration according to the requirements. The fourth group of RxPDO and
TxPDO is the suggested configuration for Omron controllers.
In Delta ASDA-x3-E rev0.04.xml, the first to fourth groups of PDO configuration are shown as
follows:
First group of RxPDO mapping
First group of TxPDO mapping
Second group of RxPDO mapping (default)
RxPDO
(OD 1601h)
Second group of TxPDO mapping (default)
TxPDO
(OD 1A01h)
13-18
Controlword Target position
(OD 6040h) (OD 607Ah)
Touch probe
function
(OD 60B8h)
Position actual
Statusword
value
(OD 6041h)
(OD 6064h)
Touch probe Touch probe pos1
status pos value
(OD 60B9h) (OD 60BAh)
Target velocity Target torque
(OD 60FFh) (OD 6071h)
Velocity actual Torque actual
value value
(OD 606Ch) (OD 6077h)
Digital inputs
(OD 60FDh)
ASDA-A3