Process Data Objects (Pdos); Pdo Mapping Settings - Omron R88M-K User Manual

5 EtherCAT Communications
5-4

Process Data Objects (PDOs)

The process data objects (PDOs) are used to transfer data during cyclic communications in realtime.
PDOs can be reception PDOs (RxPDOs), which receive data from the controller, or transmission PDOs
(TxPDOs), which send status from the Servo Drive to the host controller.
Host
Controller
The EtherCAT application layer can hold multiple objects to enable transferring Servo Drive process
data. The contents of the process data are described in the PDO Mapping object and the Sync
manager PDO assignment object.
G5-series Servo Drives support PDO mapping for position control.
5-4-1

PDO Mapping Settings

The PDO mapping indicates the mapping for application objects (realtime process data) between the
object dictionary and PDO.
The number of mapped objects is described in sub-index 00 hex of the mapping table. In this mapping
table, 1600 hex to 17FF hex are for RxPDOs and 1A00 hex to 1BFF hex are for TxPDOs.
G5-series Servo Drives can use up to two mappings in 1600 hex and 1701 to 1705 hex for an RxPDO
and in 1A00 hex, 1B01 to 1B04 hex, and 1BFF hex for a TxPDO, respectively.
The following table is an example of PDO mapping.
Object Dictionary
Index Sub
1ZZZh 01h
1ZZZh 02h
1ZZZh 03h
6TTTh TTh
6UUUh UUh
6VVVh VVh
6YYYh YYh
6ZZZh ZZh
5-6
RxPDO
Operation command, target position, etc.
TxPDO
Operation status, actual position, etc
Object contents
6TTTh TTh 8
6UUUh UUh 8
YYYYh YYh 16
PDO_1
Object A
Object B
Object C
Object D
Object E
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Servo Drive
PDO-Length: 32 bits
Object A Object B Object D