Processing Data Object; Pdo Mapping - Econ EtherCAT EHS-580 User Manual

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5.4 processing data object

PDO generally used for real time data updating :it includes RXPDO and TXPDO.RXPDO is that master send the
data to slave station , and TXPDO is reversed

5.4.1 PDO mapping

The mapping objects can be real time transmission via PDO mapping.
E5-CAT supports 4groups RXPDO and 2 groups TXPDO for data transmission at the same time. Each PDO object
mapping to 8bytes object dictionary(the max length is 32bytes).
The PDO mapping format
Bit
Content
Example
The default PDO mapping(same as XML file)
PDO mapping PDO object
object index sub-index
RXPDO1
(1600h)
RXPDO2
(1601h)
RXPDO3
(1602h)
User Manual For EHS-580 EtherCAT Hybrid Servo Drive
31~16
Index of mapped object
6040h
Mapping
content
01h 60400010h
02h 607A0020h
03h 60B00020h
04h 60B80010h
01h 60400010h
02h 607A0020h
03h 60810020h
04h 60830020h
05h 60840020h
06h 60600008h
01h 60400010h
02h 60FF0020h
03h 60830020h
04h 60840020h
06h 60600008h
15~8
Sub-index of mapped object Bit length (hexadecimal
00h
Mapping content details
Index Sub-index
6040h 00h
607Ah 00h
60B0h 00h
60B8h 00h
6040h 00h
607Ah 00h
6081h 00h
6083h 00h
6084h 00h
6060h 00h
6040h 00h
60FFh 00h
6083h 00h
6084h 00h
6060h 00h
7~1
form)
10h (length:16bits)
Mapping content
Bit length
definition
10h (16bits) Control word
20h (32bits) Target position
20h (32bits) Position offset
10h (16bits) Probe function
Control word
10h (16bits)
20h (32bits) Target position
20h (32bits) Max. speed
20h (32bits) Acceleration
20h (32bits) Deceleration
08h (8bits) Operation mode
Control word
10h (16bits)
20h (32bits) Target speed
20h (32bits) Acceleration
20h (32bits) Deceleration
08h (8bits) Operation mode