Process Data Objects (Pdos) - Omron R88D-KN01L-ECT-L 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
1ZZZ hex
1ZZZ hex
1ZZZ hex
6TTT hex
6UUU hex
6VVV hex
6YYY hex
6ZZZ hex
5 - 6
RxPDO
Operation command, target position, etc.
TxPDO
Operation status, actual position, etc
Sub Object contents
01 hex 6TTT hex TT hex
02 hex 6UUU hex UU hex
03 hex YYYY hex YY hex 16
TT hex Object A
UU hex Object B
VV hex Object C
YY hex Object D
ZZ hex Object E
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
8
8
PDO-Length : 32 Bit
PDO_1
Object A Object B
Servo Drive
Object D