Orientalmotor AZX Series Operating Manual page 81

„ PDO mapping object
Up to 16 objects can be mapped in a single PDO.
Receive PDO mapping object
Receive PDO
RxPDO1
RxPDO2
Objects to be mapped in PDO are as follows.
Objects of profile area
6000h to 67FFh
The configuration of objects is as follows.
Index (Hex)
1000h to 1FFFh
2000h to 3FFFh
4000h to 4FFFh
5000h to 5FFFh
6000h to 67FFh
„ Sync Manager 2/Sync Manager 3 PDO assignment object
The SM (Sync Manager Channel) PDO assignment objects set the relationship between PDO and Sync Manager.
The Sync Manager 2 PDO assignment (1C12h) is the assignment object dedicated to the receive PDO. The Sync
Manager 3 PDO assignment (1C13h) is the assignment object dedicated to the transmit PDO.
Objects of up to 64 bytes can be assigned.
„ Setting of PDO mapping object
PDO mapping can be changed when the ESM is Pre-Operational. Change the PDO mapping in the following steps.
1. Set the number of entries of the Sync Manager 2/Sync Manager 3 PDO assignment object to 0.
2. Set the number of entries of the PDO mapping object to 0.
3. Change the PDO mapping object.
4. Change the number of entries of the PDO mapping object to the number of objects mapped in Step 3.
5. Change the Sync Manager 2/Sync Manager 3 PDO assignment object.
6. Change the number of entries of the Sync Manager 2/Sync Manager 3 PDO assignment object to the number
assigned in the step 5.
Transmit PDO mapping object
Index Transmit PDO
1600h TxPDO1
1601h TxPDO2
Objects of manufacturer-specific area
4000h to 4FFFh
Object
CoE Communication Area
Manufacturer-Specific Area
Profile Area
Communication specifications
Index
1A00h
1A01h
Overview
CoE communication area
Not used
Driver object
Not used
Profile area
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