Omron NXR Series User Manual page 134

6 EtherCAT and IO-Link Communications
Object Dictionary
Index
1ZZZ hex
6TTT hex
6UUU hex
6VVV hex
6YYY hex
6ZZZ hex
Application objects define the I/O data allocated to the PDO mapping objects.
The PDO mapping objects define these I/O data sets.
 PDO Mapping with IO-Link Master Units
PDO mapping objects contain the I/O data provided by the IO-Link Master Units.
PDO mapping objects for the RxPDOs are managed in the object dictionary from indexes 1600 hex
to 1602 hex, and for the TxPDOs from indexes 1A00 hex to 1BFF hex.
The IO-Link Master Unit has the following PDO mapping objects.
• An object for which an application object (PDO entry) can be allocated
• An object for which the allocation of an application object (PDO entry) is fixed
In the subsequent sections of this manual, the application object is called a PDO entry for explana-
tion.
The PDO mapping object of the IO-Link Master Unit for which the PDO entry can be allocated, the
PDO entry is allocated by default (factory setting).
You can change the PDO entry from the default value.
Refer to A-1-5 PDO Mapping Objects on page A-10 for details on the PDO mapping method, PDO
mapping objects, and PDO entries for the IO-Link Master Unit.
Allocating PDOs
This section describes the mechanism of PDO allocation of the EtherCAT slave and the PDO alloca-
tion to the IO-Link Master Unit.
 Scheme for Assigning PDOs to EtherCAT Slaves
You can assign more than one PDO mapping objects for the PDO allocation to an EtherCAT slave.
Allocate the PDO mapping objects to the index 1C12 hex (for RxPDO) and index 1C13 hex (for
TxPDOs) of the Sync Manager objects.
The following example shows how PDOs are assigned.
6-6
Sub-
Object contents
index
01 hex 6TTT hex TT hex 8
02 hex 6UUU hex UU hex 8
03 hex 6YYY hex YY hex 16
PDO-Length: 32 bits
TT hex Object A
UU hex
Object B
VV hex
Object C
YY hex Object D
ZZ hex Object E
Object A Object B
PDO_1
NXR-series IO-Link Master Unit for EtherCAT User's Manual (W640)
Object D