Omron FH series User Manual page 54

Assigning PDOs
Scheme for Assigning PDOs to EtherCAT Slaves
You can assign more than one PDO to an EtherCAT slave.
Here, PDOs are assigned to index 1C12 hex for the RxPDO, and 1C13 hex for the TxPDO.
The following example shows how PDOs are assigned.
Sub
Index
Index
1C13 hex
1A00 hex
1A01 hex
1A02 hex
1A03 hex
1A04 hex
1A05 hex
1A06 hex
In this example, three PDOs (PDO A, PDO B, and PDO D) are assigned to index 1C13 hex (for the TxPDOs).
Similarly, a PDO (for the RxPDO) is assigned to index 1C12 hex.
These assignments determine the PDOs to use for communications between the EtherCAT master and
slave.
52
EtherCAT Connections (FH-1000 series/FH-3000 series only)
Object Contents
1 1A00 hex
2
1A01 hex
3
1A03 hex
PDO A
PDO B
PDO C
PDO D
PDO E
PDO F
PDO G
Sync Manager entity Z
PDO A
PDO B PDO D
Vision System FH/FZ5 Series User's Manual
for Communications Settings (Z342)