Set Pdo Mapping - Delta ASDA-A3 Series User Manual

EtherCAT Mode

13.2.4.2 Set PDO mapping

Take the second group of PDO configuration OD 1601h and OD 1A01h as an example, and the
13
settings are as follows:
1. Disable the PDO configuration: set OD 1C12h sub0 to 0 (RxPDO) and OD 1C13h sub0 to 0
(TxPDO).
2. Disable the PDO mapping setting: set OD 1600h sub0 to 0 (RxPDO) and OD 1A01h sub0
to 0 (TxPDO).
3. Set OD 1601h sub1 - sub5 for the RxPDO mapping content, and set OD 1601h sub0 to 5
for the RxPDO mapping number.
parameter setting
OD 1601h sub1
OD 1601h sub2
OD 1601h sub3
OD 1601h sub4
OD 1601h sub5
OD 1601h sub0
4. Set OD 1A01h sub1 - sub7 for the TxPDO mapping content, and set OD 1A01h sub0 to 7
for the TxPDO mapping number.
parameter setting
OD 1A01h sub1
OD 1A01h sub2
OD 1A01h sub3
OD 1A01h sub4
OD 1A01h sub5
OD 1A01h sub6
OD 1A01h sub7
OD 1A01h sub0
5. Set the PDO mapping configuration: set OD 1C12h sub1 to 0x1601 (RxPDO) and
OD 1C13h sub1 to 0x1A01 (TxPDO).
6. Enable the PDO configuration: set OD 1C12h sub0 to 1 (RxPDO) and OD 1C13h sub0 to 1
(TxPDO).
13-20
Mapping
for RxPDO
6040h
607Ah
60FFh
6071h
60B8h
Mapping
for TxPDO
6041h
6064h
606Ch
6077h
60B9h
60BAh
60FDh
Data
00h 10h Controlword (6040h); data length is 16-bit.
00h 20h Target position (607Ah); data length is 32-bit.
00h 20h Target velocity (60FFh); data length is 32-bit.
00h 10h Target torque (6071h); data length is 16-bit.
Touch probe function (60B8h); data length is
00h 10h
16-bit.
5 Set 5 for the RxPDO mapping number.
Data
00h 10h Statusword (6041h); data length is 16-bit.
Position actual value (6064h); data length is
00h 20h
32-bit.
Velocity actual value (606Ch); data length is
00h 20h
32-bit.
Torque actual value (6077h); data length is
00h 10h
16-bit.
Touch probe status (60B9h); data length is
00h 10h
16-bit.
Touch probe pos1 pos value (60BAh); data
00h 20h
length is 32-bit.
00h 20h Digital inputs (60FDh); data length is 32-bit.
7 Set 7 for the TxPDO mapping number.
Description
Description
ASDA-A3