Set Pdo Mapping - Delta ASDA-B3 Series User Manual

ASDA-B3

12.2.4.2 Set PDO mapping

Take the second group of PDO configuration OD 1601 and OD 1A01 as an example.
The settings are as follows:
1. Disable the PDO configuration: set OD 1C12 sub 0 to 0 (RxPDO) and OD 1C13 sub 0 to 0
(TxPDO).
2. Disable the PDO mapping setting: set OD 1600 sub 0 to 0 (RxPDO) and OD 1A01 sub 0 to
0 (TxPDO).
3. Set the contents and number of RxPDO mappings: set OD 1601 sub 1 to sub 5 (RxPDO)
for the content and set OD 1601 sub 0 to 5 (RxPDO) for the number of RxPDO mappings.
Mapping
parameter setting
for RxPDO
OD 1601 sub1
OD 1601 sub2
OD 1601 sub3
OD 1601 sub4
OD 1601 sub5
OD 1601 sub0
4. Set the contents and number of TxPDO mappings: set OD 1A01 sub 1 to sub 7 (TxPDO)
for the content and set OD 1A01 sub 0 to 7 (TxPDO) for the number of TxPDO mappings.
Mapping
parameter setting
for TxPDO
OD 1A01 sub1
OD 1A01 sub2
OD 1A01 sub3
OD 1A01 sub4
OD 1A01 sub5
OD 1A01 sub6
OD 1A01 sub7
OD 1A01 sub0
5. Set the PDO mapping configuration: set OD 1C12 sub 1 to 0x1601 (RxPDO) and OD 1C13
sub 1 to 0x1A01 (TxPDO).
6. Enable the PDO configuration: set OD 1C12 sub 0 to 1 (RxPDO) and OD 1C13 sub 0 to 1
(TxPDO).
Data
6040h 00h 10h
607Ah 00h 20h
60FFh 00h 20h
6071h 00h 10h
60B8h 00h 10h
5
Data
6041h 00h 10h
6064h 00h 20h
606Ch 00h 20h
6077h 00h 10h
60B9h 00h 10h
60BAh 00h 20h
60FDh 00h 20h
7
Description
Control command (6040h), data length is
16-bit
Target position (607Ah), data length is 32-bit
Target velocity (60FFh), data length is 32-bit
Target torque (6071h), data length is 16-bit
Touch Probe setting (60B8h), data length is
16-bit
Set 5 for the number of RxPDO mappings
Description
Statusword (6041h), data length is 16-bit
Position actual value (6064h), data length is
32-bit
Velocity actual value (606Ch), data length is
32-bit
Torque actual value (6077h), data length is
16-bit
Touch Probe Status (60B9h), data length is
16-bit
Touch Probe Pos1 Pos Value (60BAh), data
length is 32-bit
Digital inputs (60FDh), data length is 32-bit
Set 7 for the number of TxPDO mappings
EtherCAT Mode
12
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