Pdo Mapping Setting - Delta CMC-EC01 Operation Manual

EtherCAT Option Card CMC-EC01
4.2.2

PDO Mapping Setting

The steps to set PDO mapping are as follows:
1. Disable PDO configuration: OD 1C12 sub 0 = 0 (RxPDO), OD 1C13 sub 0 = 0 (TxPDO)
2. Disable PDO mapping settings: OD 1600 sub 0 = 0 (RxPDO), OD 1A01 sub 0 = 0 (TxPDO)
3.
Set the content and number of RxPDO mapping objects: OD 1600–1603 sub 1–sub 8 sets the
corresponding OD (RxPDO), OD 1600–1603 sub 0 = the corresponding OD number (RxPDO),
the following takes OD 1601 as an example:
RxPDO Mapping
Parameter Settings
OD 1601 sub1
OD 1601 sub2
OD 1601 sub3
OD 1601 sub4
OD 1601 sub5
OD 1601 sub0
4. Set the content and number of TxPDO mapping objects: OD 1A00–1A03 sub 1–sub 8 sets the
corresponding OD (TxPDO), OD 1A00–1A03 sub 0 = the corresponding OD number (TxPDO),
the following takes OD 1A00 as an example:
RxPDO Mapping
Parameter Settings
OD 1A00 sub1
OD 1A00 sub2
OD 1A00 sub3
OD 1A00 sub4
OD 1A00 sub5
OD 1A00 sub6
OD 1A00 sub0
5. Set the PDO mapping configuration: OD 1C12 sub 1 = 0x1601 (RxPDO), OD 1C13 sub 1 =
0x1A01 (TxPDO)
6. Enable PDO configuration: OD 1C12 sub 0 = 1 (RxPDO), OD 1C13 sub 0 = 1 (TxPDO)
Data
6040h Controlword, 16-bit
6060h Modes of operation, 8-bit
6072h Max torque, 32-bit
607Ah Target torque, 32-bit
6080h Max motor speed, 32-bit
5 Set five RxPDO mappings
Data
6041h Statusword, 16-bit
6061h Modes of operation display, 8-bit
6064h Position actual value, 32-bit
606Ch Velocity actual value, 32-bit
6077h Max motor speed, 32-bit
603Fh Error code, 16-bit
6 Set six RxPDO mappings
Description
Description
CMC-EC01 Operation Manual 23