Sync Manager Pdo Mapping Assignment Settings - Omron 1 S Series User Manual

5 EtherCAT Communications
5-4-6

Sync Manager PDO Mapping Assignment Settings

1S-series Servo Drives Advance Type use Sync Manager 2 to 3 PDO Assignment.
You can assign PDO mapping objects to each Sync Manager as shown in the following table.
Sync Manager
Sync Manager 2
Sync Manager 3
*1. The maximum object size assigned to Sync Manager 2 PDO Assignment is 32 bytes.
*2. The maximum object size assigned to Sync Manager 3 PDO Assignment is 42 bytes.
Objects are mapped in the order of subindex setting 01
These objects can be changed only when the EtherCAT communications state is Pre-Operational.
Since the mapping you changed is not saved in non-volatile memory, set the EtherCAT master so that
the settings can be configured each time you turn ON the power supply in order to use the mapping
other than the default setting.
Default Setting
Sync Manager 2 (1C12 hex)
Sync Manager 3 (1C13 hex)
Precautions for Correct Use
• If mapped objects exceed the maximum total size, the RxPDO Setting Error (Error No.90.05)
or TxPDO Setting Error (Error No.90.06) occurs.
• If the same object is mapped in an RxPDO more than once, the value of the last object is
used.
• If the same object is mapped in a TxPDO more than once, the values of the all objects are
updated.
5 - 14
Assigned Supported
object PDO
1C12 hex RxPDO
1C13 hex TxPDO
1701 hex, 1610 hex
1B01 hex, 1B20 hex, 1A10 hex
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Assigned
PDO mapping object
1600 hex, 1610 hex, and 1701 to 1705 hex
1A00 hex, 1A10 hex, 1B01 to 1B04 hex,
1B20 hex, and 1BFF hex
, 02 , 03 hex, and 04 hex
hex hex
Max. No.
of
assigned
objects
*1
3
*2
4
.