Pdo Mapping Objects - YASKAWA SGD7S-1R9D Product Manual

14.3

PDO Mapping Objects

The CANopen over EtherCAT protocol allows the user to map objects to process data objects
(PDOs) in order to use the PDOs for realtime data transfer.
The PDO mappings define which objects will be included in the PDOs.
A mapping entry (subindexes 1 to 8) is defined as shown below.
Bit 31
Bits 0 to 7: The length of the mapped object in bits. (If there is a gap in the PDOs, the bit length
of the gap is given.)
Bits 8 to 15: The subindex of the mapped object (0 if there is a gap in the PDOs).
Bits 16 to 31: The index of the mapped object (0 if there is a gap in the PDOs).
The objects mapped to PDOs can be changed only when the EtherCAT (CoE) Network Mod-
Information
ule is in the Pre-Operational state.
Set the mapping entries (subindexes 1 to 8) only after you write 0 to subindex 0.
Receive PDO Mapping (1600 Hex to 1603 Hex)
 1st Receive PDO Mapping
Subin-
Index
dex
1600 hex
Object index
Name
Number of objects in this
0
PDO
1 Mapping entry 1
2 Mapping entry 2
3 Mapping entry 3
4 Mapping entry 4
5 Mapping entry 5
6 Mapping entry 6
7 Mapping entry 7
8 Mapping entry 8
16 15 8 7
Subindex
Data PDO
Access
Type Mapping
USINT RW No
UDINT RW No
UDINT RW No
UDINT RW No
UDINT RW No
UDINT RW No
UDINT RW No
UDINT RW No
UDINT RW No

14.3 PDO Mapping Objects

0
Length
Saving to
Value
EEPROM
0 to 8
Yes
(default: 8)
0 to
0xFFFFFFFF
Yes
(default:
0x60400010)
0 to
0xFFFFFFFF
Yes
(default:
0x607A0020)
0 to
0xFFFFFFFF
Yes
(default:
0x60FF0020)
0 to
0xFFFFFFFF
Yes
(default:
0x60710010)
0 to
0xFFFFFFFF
Yes
(default:
0x60720010)
0 0xFFFFFFFF
(default: Yes
0x60600008)
0 to
0xFFFFFFFF
Yes
(default:
0x00000008)
0 to
0xFFFFFFFF
Yes
(default:
0x60B80010)
14
14-9