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These PDOs contain the cyclic data (objects and/or parameters), the RxPDOs available are 1, 2, 3,
5 and 6, the TxPDOs available are 1, 2, 3, 5 and 6 (for more information on these PDOs including
default mappings please see section 6.3.2 RxPDO mappings on page 30 and section 6.3.3 TxPDO
mappings on page 34).
Figure 5-1 SI-EtherCAT PDO configuration
PLC
RxPDO1 and TxPDO1 will need to be enabled in the master. Once enabled you will need to add
mappings to the PDOs.
The format used when mapping objects to PDOs is as follows:
•
Index: Object index number (0x0000)
•
Sub-index: Object sub-index number (0x00)
•
Size: Dependant on the size (in bytes) of the object to be mapped (range: 1-4)
The format used when mapping drive parameters to PDOs is as follows:
•
Index: 0x2000 + (0x100 x S) + menu number
•
Sub-index: 0x00 + parameter number
•
Size: Dependant on the size (in bytes) of the object to be mapped (range: 1-4)
For example Pr 20.021 would be index 0x2014, sub-index 0x15 and the size would be 4 (the
parameter is a 32-bit signed value).
The values are normally expressed in hexadecimal, so care must be taken to enter the
NOTE
correct parameter number.
For this example the following objects will need to be set in order to achieve the mappings of the
parameters/objects in the PDOs.
Table 5-2 Cyclic data mapping configuration
RxPDO1:
Object:
0x1600
Sub-index:
0x00
Size:
1
Value:
3
Sub-index:
0x01
Size:
4
Value:
0x60400010
Sub-index:
0x02
Size:
4
Value:
0x60420010
Sub-index:
0x03
Size:
4
Value:
0x20141520
SI-EtherCAT User Guide
Issue Number: 2
RxPDO1
0x6040
0x6042
Control word
vl_target_velocity
TxPDO1
0x6041
0x6064 position
Status word
actual value
Object:
Sub-index:
Size:
Value:
Sub-index:
Size:
Value:
Sub-index:
Size:
Value:
Not Used
Pr 20.21
TxPDO1:
0x1A00
0x00
1
2
0x01
4
0x60410010
0x02
4
0x60640020
17
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