3.2. Process Data Object (PDO) Mapping
Process Data Object Mapping defines the data that is exchanged between
the Master and the device using high speed data exchange. RxPDO
Mapping defines the data that is sent from the Master to the device and
TxPDO Mapping defines the data that is sent from the device to the Master.
Note that the Master normally refers to RxPDO as Outputs and the TxPDO
as Inputs.
During network configuration, the user must configure the data to be
exchanged. The Brooks GF1xx Series devices provide a default and a
flexible PDO Mapping object for each of the RxPDO and the TxPDO. The
user may select either the default or the flexible PDO Mapping, or both by
using the PDO Assignment objects 0x1C12 and 0x1C13.
Each flexible PDO Mapping may be configured with up to 10 objects.
Objects assigned to a PDO Mapping must have the appropriate PDO access
permission (see the Access column in the object definition tables). Mapping
an object requires the user to specify the object’s index, sub index, and size
in bits in the PDO Mapping object. Objects with a data type that is not a
multiple of 8 bits may require that a “pad” object be included so that the next
object starts on an 8-bit boundary. An example of a data type that is not a
multiple of 8 bits is the bool data type (1 bit). A pad object has an object
number of 0x0000:00 with a non-zero bit size. The pad object counts as one
of the 10 objects that can be configured. It is best practice to group objects
that are not a multiple of 8 bits so that only 1 pad is required.
PDO mappings are sent from the Master to the device while the device is in
PREOP state. If the PDO mappings are not properly configured, the device
will return an error when requested to transition to the SAFEOP state. The
Error LED will flash RED and the resulting device state will be ERRPREOP.
3.2.1. RxPDO Mapping
The Brooks GF1xx Series device supports one preconfigured, default
RxPDO at 0x1600 and one user configurable RxPDO at 0x1601.
The default RxPDO for each device profile are defined in the tables below:
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