Omron Sysmac NJ Series User Manual page 258

Appendices
Order of entries
Editing a PDO Entry Table
Initially, a slave PDO entry table contains the default objects. Some slaves have objects other than
these default objects.
You can add objects other than the default objects to the PDO entry table, or you can delete objects
from the PDO entry table.
However, the following restrictions apply:
 Byte Boundaries
An OMRON master must arrange entry objects by byte boundaries. (This applies only to objects
that are one byte or larger in size.)
If an entry object is bit data, padding must be entered to adjust the boundaries.
Padding is meaningless data that is added to the end of an entry so that an object ends at a boun-
dary of the specified size.
You can use the following methods to arrange objects within byte boundaries.
• Click the Align Button.
Padding is automatically entered. Refer to the descriptions of the buttons below for details.
• Add padding to the PDO entries manually.
In the following example, 2 bits of padding are entered to adjust the byte boundary when entering
objects with BIT2 and BIT4 data types for PDO entries.
Index
Because an object with 2 bits and an object with 4 bits are entered,
2 bits of padding must be added to adjust the byte boundary (8 bits).
 Connecting to Slaves from Other Manufacturers
When connecting a slave from another manufacturer, refer to the manuals for the other manufac-
turer's slaves, and then ask your OMRON representative if you have any questions.
 Specifications of Edit PDO Entry Tables Window
The following buttons are used to edit a PDO entry table. The meanings of the buttons are given
below.
A-22
Index Size
0x6000:00 16[bit]
0x6001:00 8[bit]
0x6002:00 8[bit]
0x6008:00 16[bit]
0x6010:00 32[bit]
Size Data type
0x6000:00 16[bit] UINT
0x6001:00 2[bit] BIT2
0x6002:00 4[bit] BIT4
0x0000:00 2[bit] ---
0x6010:00 32[bit] UDINT
Data type PDO entry name Comment
UINT uiAAA
USINT b2BBB
USINT b4CCC
UINT uiddd
UDINT udEEE
PDO entry name Comment
uiAAA
b2BBB
b4CCC
---
udEEE
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