Estun Summa Series - Page 306

Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-40
The data description of PDO Mapping Objects is as following.
Bit
Data
Description
0 to 7
Length
－
8 to 15
Sub-Index
－
16 to 31
Object index
－
The objects mapped to PDOs can be changed only when the EtherCAT (CoE) Network Module is in the
Pre-Operational state.
There are 4 receiving PDOs (RxPDOs) and 4 transmit PDOs (TxPDOs). Each PDO Mapping can be
assigned up to 8 objects, and the total assignment is not more than 32 bytes.
The procedure of PDO mapping is as following:
1. Disable the assignments between the Sync Manager and PDOs:
Set subindex 00h in objects 1C12h and 1C13h to 0.
2. Disable the assignments of PDOs:
Set subindex 00h in objects (1600h to 1603h) and (1A00h to 1A03h) to 0.
3. Set all of the mapping entries for the PDO mapping objects:
Set objects (1600h to 1603h) and (1A00h to 1A03h).
4. Set the number of mapping entries for the PDO mapping objects:
Set subindex 00h in objects (1600h to 1603h) and (1A00h to 1A03h).
5. Set the assignments between the Sync Manager and PDOs:
Set subindex 01h in objects 1C12h and 1C13h.
6. Enable the assignments between the Sync Manager and PDOs:
Set subindex 00h in objects 1C12h and 1C13h to 1.
1st Receive PDO Mapping
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
1600h
0
Number of entries
USINT
RW
NO
2
1
Mapping entry 1
UDINT
RW
NO
0x60400010
2
Mapping entry 2
UDINT
RW
NO
0x60FF0020
3
Mapping entry 3
UDINT
RW
NO
－
4
Mapping entry 4
UDINT
RW
NO
－
5
Mapping entry 5
UDINT
RW
NO
－
6
Mapping entry 6
UDINT
RW
NO
－
7
Mapping entry 7
UDINT
RW
NO
－
8
Mapping entry 8
UDINT
RW
NO
－
2nd Receive PDO Mapping
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
1601h
0
Number of entries
USINT
RW
NO
2