Advantech AMAX-5000 Series User Manual page 140

6.2.6.1 PDO Configuration
The PDO assignment should be defined on your EtherCAT master utility. The corre-
sponding pair of the PDO content is required before using the AMAX-5081. (Please
refer to PDO assignment (0x1C10 - 0x1C13)).
For example, if you're using the encoder + compare output feature, please select
0x1602 for SM2 and 0x1A02 for SM3. In this way, the related PDO will be added. Fig-
ures below show how PDO should be assigned on CODESYS when using the com-
pare output.
Figure 6.22 PDO assignment for SM2 - CODESYS interface
Figure 6.23 PDO assignment for SM3 – CODESYS interface
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