YASKAWA SGD7S-1R9D Product Manual page 399

12.2 EtherCAT State Machine
Information
12-4
1. The SERVOPACK does not support EtherCAT Read/Write commands (APRW, FPRW, BRW, and LRW).
2. For SDO and PDO communications through the EtherCAT data link layer, the FMMUs and Sync Managers must
be set as follows:
• Sync Manager Settings
Sync Manager
Sync Manager 0 Assigned to Receive Mailbox
Sync Manager 1 Assigned to Transmit Mailbox
Sync Manager 2 Assigned to Receive PDOs
Sync Manager 3 Assigned to Transmit PDOs
*
This is the size and first address for a SERVOPACK with a revision number (object 1018 hex: 03 hex) of
0x00020000 or lower. This setting can also be used with a revision number (object 1018 hex: 03 hex) of
0x00030001 or higher.
• FMMU Settings
FMMU
FMMU 0 Mapped in receive PDO (RxPDO) area.
FMMU 1 Mapped in transmit PDO (TxPDO) area.
FMMU 2 Mapped to the mailbox status.
Assignment (Fixed)
Setting
Size Start Address (Fixed)
128 bytes (fixed)
128 bytes (fixed)
0 to 256 bytes (0 to
200 bytes*)
0 to 256 bytes (0 to
200 bytes*)
0x1000
0x1080
0x1100
0x1400
(0x1358*)