Delta ASDA-A3 Series User Manual page 1097

EtherCAT Mode
Example:
To set the three PDOs, OD 6040h, OD 607Ah, and OD 6060h, in the first group of PDO,
13
the setting is as follows.
parameter setting
Objects 1A00h - 1A03h: Transmit PDO mapping parameter
Index
Name
Object code
Data type
Access
Note
Sub-index
Description
Data type
Access
PDO mapping
Setting range
Default
Sub-index
Description
Data type
Access
PDO mapping
Setting range
Default
Format of this object: (High word h) DCBA; (Low word L) UZYX
DCBA
13-52
Mapping
for RxPDO
OD 1600h sub0
OD 1600h sub1 6040h
OD 1600h sub2 607Ah
OD 1600h sub3 6060h
The total length is 38h (56-bit) which meets the specification of less
Note
than 64-bit.
Bit 16 - Bit 31
Object index
Data
3 Set 3 PDO mappings.
Mapping Controlword (6040h);
00h 10h
data length is 16-bit
Mapping target position (607Ah);
00h 20h
data length is 32-bit
Mapping mode (6060h);
00h 08h
data length is 8-bit
1A00h, 1A01h, 1A02h, 1A03h
Transmit PDO mapping parameter
RECORD
PDO mapping
RW
The total length of objects in a group of PDO cannot
exceed 64 bits.
0
Number of PDO mappings
UNSIGNED8
RW
No
0: disable
1 - 8: set the number of PDO mapping and enable
the function
0
1 - 8
st th
Specify the 1 (to 8 ) object and its content to be
mapped
UNSIGNED32
RW
No
UNSIGNED32
0
YX
UZ
Description
Bit 0 - Bit 7
Object data length
Bit 8 - Bit 15
Object sub-index
ASDA-A3