LSIS XGT Series - Ethercat Process Data Objective(PDO)

Chapter 4 Motion Control Operation
4-10
4.4.4 EtherCAT Process Data Objective(PDO)
The synchronous data communication in EtherCAT communication of motion controller occurs through process data
object (PDO). There are two types of process data: TxPDO which is transmitted from the slave to motion controller,
and RxPDO which is transmitted from motion controller to the slave. In RxPDO and TxPDO, data which are going to
be synchronous communication can be put together to be set as the example of the figure below shows among the
data defined in the Object Dictionary.
Index Sub-Index Description Type
0x6040
0x6060
-
-
Control Word
Mode of Operation
UINT
BYTE
Index Sub-Index
0x607A - Target Position DINT
Object Dictionary
0x6040
0x6060
0x607A
0x00
0x00
0x00
RxPDO
Index Sub-Index Description Type
0x6041
0x6061
-
-
Status Word
Operation Display
UINT
BYTE
Index Sub-Index
0x6064 - Actual Position DINT
Object Dictionary
0x6040
0x6064
0x6061
0x00
0x00
0x00
TxPDO
Slave manufacturers sometimes set many RxPDO and TxPDO in advance and provide Slave Information File
including this information in xml format. When initially setting and test operating this slave information file, it should
be transmitted to the motion controller using the XG5000. This slave information file should be analyzed and
communicated to the PDO data which is optimized for controlling.