Omron SYSMAC FH Series User Manual page 73

PDO Mappings
PDO mapping objects contain the I/O data for EtherCAT slave terminals. PDO mapping objects are
managed with indexes in the object dictionary: from 1600 to 17FF Hex for the RxPDO, and from 1A00
to 1BFF Hex for TxPDO.
l PDO Mapping Scheme in EtherCAT
The following describes the PDO mapping scheme in EtherCAT.
Three application objects (Object A, B, and D) are allocated to the PDO (name: PDO_1) at index
1ZZZ Hex.
Like mentioned above, PDO mappings indicates how application objects are allocated to PDOs.
Indexes and sub-indexes are also allocated to application objects.
Object Dictionary
Index
1ZZZ hex
6TTT hex
6UUU hex
6VVVHex
6YYY hex
6ZZZHex
l PDO Mapping for EtherCAT Slave Terminals
EtherCAT slave terminals have PDOs for each EtherCAT coupler unit and the Sensor Controller for
FH/FHV series.
Application objects are allocated by default (factory settigs) to PDOs for each unit.
The following figure describes a specific example for one of PDOs in a Sensor Controller for the
FH/FHV series.
Object Dictionary
Index
hex
1BFF
hex
2001
*1. This is expressed as 0x2001:01 on the Sysmac Studio.
FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)
2 Methods for Connecting and Communicating with External Devices
Sub
Object Contents
Index
01 hex 6TTT hex TT hex 8
02 hex 6UUU hex UU hex 8
03 hex 16
6YYY hex YY hex
PDO-Length : 32 Bit
TT hex
Object A
UU hex Object B
VV hex Object C
YY hex Object D
ZZ hex Object E
Sub
Object Contents
Index
hex hex hex
01 2001 01 * 1 8
PDO-Length : 8 Bit
hex
01 Sysmac error status
PDO_1 Object A Object B
512th transmit PDO mapping
Object D
Sysmac error status
2
2 - 11