Process Data Objects (Pdo) - Omron 3G3AX-MX2-ECT User Manual

3 Common Slave Specifications
3-3

Process Data Objects (PDO)

3-3-1 Outline
The process data objects (PDOs) are used to transfer data during cyclic communications in realtime.
There are two types of PDOs: reception PDOs (RxPDOs) which receive data from the controller, and
transmission PDOs (TxPDOs) which send statuses from the inverter to the Host Controller.
Controller
The EtherCAT application layer can hold multiple objects to enable the transferring of inverter process
data. The contents of the process data are described in the PDO mapping object and the Sync
Manager PDO assignment object.
3-3-2 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 to 17FF hex are for RxPDOs and 1A00 to 1BFF hex are for TxPDOs.
The following table is an example of PDO mapping.
Object dictionary
Index
1ZZZ hex
1ZZZ hex
1ZZZ hex
6TTT hex
6UUU hex
6VVV hex
6YYY hex
6ZZZ hex
3 - 4
RxPDO
Operation command, target value, etc
Host
TxPDO
Operation status, present value, etc
Sub Object contents
01 hex 6TTT hex TT hex
02 hex 6UUU hex UU hex
03 hex YYYY hex YY hex
TT hex
Object A
UU hex
Object B
VV hex
Object C
YY hex
Object D
ZZ hex
Object E
8
8
16
PDO length: 32 bits
PDO_1
Object A Object B
EtherCAT Communication Unit USER'S MANUAL (3G3AX-MX2-ECT)
Inverter
Object D