Assigning Pdos - Omron CJ1W-ECT21 Operation Manual

 TxPDO
PDO mapping object
Name
257th transmit
PDO Mapping
258th transmit
PDO Mapping
259th transmit
PDO Mapping
260th transmit
PDO Mapping
*1. The I/O Input Data Area object is the application object of the PDO mapping.
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Assigning PDOs

This section provides details for assigning PDOs to an EtherCAT slave.
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.
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.
CJ-series EtherCAT Slave Units Operation Manual for NJ-series CPU Unit (W542)
I/O Input Data Area object
Index number Name
1B00 hex Input001 to
Input025
1B01 hex Input001 to
Input050
1B02 hex Input001 to
Input100
1B03 hex Input001 to
Input200
Sub-
Object contents
index
1 1A00 hex
2
1A01 hex
3
1A03 hex
PDO A
PDO B
PDO C
PDO D
PDO E
PDO F
PDO G
4 EtherCAT Communications
*1
Index Sub-index
number number
6000 hex 01 to 19 hex
01 to 32 hex
01 to 64 hex
01 to C8 hex
Sync Manager entity Z
PDO A
PDO B PDO D
Description
IN data area size is 50 bytes.
IN data area size is 100 bytes.
IN data area size is 200 bytes.
IN data area size is 400 bytes.
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