Leadshine EL8-EC Series User Manual page 297

PDO dynamic mapping
Different from CIA DS301, CoE uses PDO specified objects (1C12h/1C13h) to configure
PDO mapped objects (1600h~1603h/1A00h~1A01h) to PDO SyncManager
(SyncManager 2/3). PDO specified objects are defined in table 7.4
Index
RXPDO
(1C12h)
TXPDO
(1C13h)
** 1) U represents unsigned type, such as U8 for unsigned 8 bits and U16 for unsigned 16
bits
2) Access: RO = Read Only, RW = Read and Write, WO = Write Only
PDO dynamic mapping setup procedure
B、 Switch EtherCAT state machine to pre-operational, then PDO map can be
configured using SDO.
C、 Clear the PDO mapping object of the PDO specified object by setting 1C12-00h /
1C13-00h to 0.
D、 Invalidate the PDO mapping object by assigning 0 to the subindex 0 of
1600h~1603h /1A00h~1A01h.
E、 Reconfigure PDO mapping content and write the mapping object into the objects in
the range of 1600-01h~1600-08h, 1601-01h~1601-08h, 1602-01h~1602-08h,
03-01h~1603-08h (RXPDO mapping content as from 1600h-01), 00-01h ~
1A00-08h or 1A01-01h~1A01-08h (TXPDO mapping content as from 1A00h-01)
according to Table 6.3
F、 Set the total number of PDO mapping objects by writing the number of mapping
objects into 1600-00h, 1601-00h, 1602-00h, 1603-00h, 1A00-00h or 1A01-00h.
The total number of PDO mapping objects without mapping content will be set to
0.
G、 Write valid PDO mapping object index to PDO specified object by writing valid
RXPDO mapping object index 1600h~1603h into 1C12-01h ~ 1C12-04h and
writing valid TXPDO mapping object index 1A00h, 1A01h into 1C13-01h,
1C13-02h.
H、 Set the total number PDO specified objects by writing the number of mapped
objects to 1C12-00h and 1C13-00h.
I、 Switch EtherCAT state to Safe-Operational or above, the configured PDO
mapping will be valid.
Table 7.4 PDO specifies object definitions
Sub-index Range
00h 0~4
01h
02h
1600h~1603h
03h
04h
00h 0~2
01h
1A00h~1A01h
02h
User manual of EL8-EC***F AC Servo
Data type Access
U8*1) RO *2)
U16 RW
U16 RW
U16 RW
U16 RW
U8 RO
U16 RW
U16 RW
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