Pdo Mappings - YASKAWA SGD7S-1R9D Product Manual

12.4 PDO Mappings

12.4 PDO Mappings
The process data that is used in process data communications is defined in the PDO map-
pings. POD mappings are definitions of the applications objects that are sent with PDOs.
The PDO mapping tables are in indexes 1600 hex to 1603 hex for the RxPDOs and indexes
1A00 hex to 1A03 hex for the TxPDOs in the object dictionary.
The following figure shows an example of PDO mappings.
Object Dictionary
Index
0x1A00
0x1A00
0x1A00
0x6TTT
0x6UUU
0x6VVV
0x6YYY
0x6ZZZ
In addition to the above PDO mappings, PDOs have to be assigned to the Sync Managers to
exchange EtherCAT process data.
The Sync Manager PDO assignment objects (1C12 hex and 1C13 hex) establish the relation-
ship between these PDOs and the Sync Managers.
The following figure shows an example of a Sync Manager and the PDO mappings.
0x1C13
0x1C13
12-6
Subindex Object Contents
1 0x6TTT 0xTT
2 0x6UUU 0xUU
3 0xYYYY 0xYY
PDO length: 32 bits
0xTT Object A
0xUU Object B
0xVV Object C
0xYY Object D
0xZZ Object E
Object Dictionary
Index Subindex Object Contents
1 0x1A00
2 0x1A01
0x1A00 PDO_1
0x1A01 PDO_2
0x1A02 PDO_3
0x1A03 PDO_4
 The PDO mapping objects (indexes 1600 hex to 1603 hex and 1A00 hex to 1A03 hex) and
the Sync Manager PDO assignment objects (index 1C12 hex and 1C13 hex) can be written
only in Pre-Operation state.
8
8
16
Object Object
PDO_1
A B
Sync Manager Entity z
PDO_1 PDO_2
CAUTION
Object
D