Orientalmotor AZX Series Operating Manual page 82

Communication specifications
„ Example of PDO mapping
This section introduces an example of PDO mapping. Data of 2 bytes and 4 bytes are little-endian.
Set the mapping of the PDO communication by selecting the PDO mapping object that actually communicates with
the Sync Manager 2/Sync Manager 3 PDO assignment object.
Object
Object
82
EtherCAT communication frame
EtherCAT datagram
RxPDO TxPDO
data data
Driver RxPDO frame
A B C
Driver TxPDO frame
L M N O
SM2 PDO assignment object
Index Sub Setting value
00h 1
1C12h
01h 1600h
SM3 PDO assignment object
Index Sub Setting value
00h 1
1C13h
01h 1A00h
D E F G H I
P
RxPDO mapping object
PDO Index
RxPDO1 1600h
0Ah to 10h
RxPDO2 1601h
01h to 10h
TxPDO mapping object
PDO Index
TxPDO1 1A00h
06h to 10h
TxPDO2 1A01h
01h to 10h
Sub Mapping Data length
00h 9 −
01h Object A 4 bytes
02h Object B 2 bytes
03h Object C 4 bytes
04h Object D 1 byte
05h Object E 4 bytes
06h Object F 1 byte
07h Object G 2 bytes
08h Object H 1 byte
09h Object I 1 byte
0 −
00h 0 −
0 −
Sub Mapping Data length
00h 5 −
01h Object L 2 bytes
02h Object M 2 bytes
03h Object N 4 bytes
04h Object O 1 byte
05h Object P 4 bytes
0 −
00h 0 −
0 −