Process Data Object (Pdo) Configuration; Default Output Pdo Mapping - LinMot E1250-EC-UC User Manual

LinMot

3 Process Data Object (PDO) Configuration

The cyclic Process data is configured in the Master, and transmitted to the slave during
startup. The default Mapping is documented in the Tables below input and output correspond
to the PLC point of view. For a detailed description of the exchanged data and its meaning
refer to [1].
3.1 Default Input PDO Mapping
Index Size
[Byte]
0x1B00 18
0x1B62:00 2
0x1D51:00 2
0x1D8E:00 2
0x1B8A:00 4
0x1B8D:00 4
0x1B93:00 4
Default input PDO mapping of 18 Bytes the index is the UPID value of the variable

3.2 Default Output PDO Mapping

Index Size
[Byte]
0x1700 24
0x1D52:00 2
0x1DB0:00 2
0x1E40:00 2
0x1E41:00 4
0x1E42:00 4
0x1E43:00 4
0x1E44:00 4
Default output PDO mapping of 24 Bytes the index is the UPID value of the variable
The default PDO output data contains the control word and the generic Motion Command
Interface over which all types of motion commands could be accessed.
For a detailed description of the PDO data refer to [1] or have a look at the TwinCAT Demo
program, which is included with the LinMot-Talk SW.
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Byte Name
Offset
- Variables
0 StateVar
2 StatusWord
4 WarnWord
6 DemandPosition
10 ActualPosition
14 DemandCurrent
Byte Name
Offset
- Variables
0 ControlWord
2 MotionCommandHeader Uint16
4 MotionCommand Par 1
8 MotionCommand Par 2
12 MotionCommand Par 3
16 MotionCommand Par 4
20 MotionCommand Par 5
User Manual EtherCAT Interface
Data
Type
RECORD
Uint16
Uint16
Uint16
Int32
Int32
Int32
Data
Type
RECORD
Uint16
Word32
Word32
Word32
Word32
Word32
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