Pdo Dynamical Mapping; The Difference Of Pdo And Sdo - Econ EtherCAT EHS-580 User Manual

SHENZHEN ECON TECHNOLOGY CO.,LTD
RXPDO4
(1603h)
TXPDO1
(1A00h)
TXPDO2
(1A01h)

5.4.2 PDO dynamical mapping

COE use PDO specified object(1C12h/1C13h) to configure PDO mapping object(1600h~1603h/1A00h~1A01h) to
the PDO object synchronization manager (synchronization manager 2/3)
PDO specified object
Index
RXPDO
Specified
object (1C12h)
TXPDO
Specified
object (1C13h)

5.4.3The difference of PDO and SDO

Contrast terms
User Manual For EHS-580 EtherCAT Hybrid Servo Drive
01h 60400010h
02h 60980008h
03h 60990120h
04h 60990220h
05h 609A0020h
06h 607C0020h
07h 60600008h
01h 603F0020h
02h 60410010h
03h 60610008h
04h 60640020h
05h 60B90008h
06h 60BA0020h
07h 60FD0020h
Sub-index
00h
01h
02h
03h
04h
00h
01h
02h
PDO
6040h 00h
6098h 00h
6099h 01h
6099h 02h
609Ah 00h
607Ch 00h
6060h 00h
603Fh 00h
6041h 00h
6061h 00h
6064h 00h
60B9h 00h
60BAh 00h
60FDh 00h
No default mapping
Range Data type
0~4 U8*1)
1600h~1603h
0~2
1A00h~1A01h
Control word
10h (16bits)
08h (8bits) Homing mode
20h (32bits) Homing speed (fast)
Homing speed(slow)
20h (32bits)
Homing
acceleration/
20h (32bits)
deceleration
20h (32bits) Homing offset
08h (8bits) Operation mode
10h (16bits) Latest errorcode
10h (16bits) Status word
Operation mode
08h (8bits)
display
20h (32bits) Actual position
10h (16bits) Probe status
Probe 1 rising edge
20h (32bits)
position
20h (32bits) Digital input status
Access property
RO
U16 RW
U16 RW
U16 RW
U16 RW
U8 RO
U16 RW
U16 RW
SDO