Chapter 7 EtherCAT Communication
Sync Manager channel used during process data communication configured
by the master;
FMMU configured by the master;
Request for Safe-Operational state by the master
SDO, TPDO, and distributed clock mode available
Valid output data sent by the master;
Request for Safe-Operational state
Normal operational state;
Both the input and output valid ;
Mailbox communication still available.
(SDO,TPDO, RPDO)
7.2.4 Process Data PDO
The real-time data transmission of EtherCAT is achieved through PDO. PDOs can be divided into
RPDO(Reception PDO) and TPDO (Transmission PDO) based on the data transmission direction. RPDO
transmits the master data to the slave, and TPDO returns the slave data to the master.
7.2.4.1 Sync Manager PDO assignment
The process data can contain multiple PDO mapping data objects during cyclic EtherCAT data communication.
The CoE protocol defines the PDO mapping object list of the Sync Manager using data objects 1C10h to 1C2Fh.
Multiple PDOs can be mapped to different sub-indexes. The M5-N series servo drive supports assignment of
four RPDO and four TPDO, as described in the following table.
Assign 1600h as the RPDO mapping object
Assign 1A00h as the TPDO mapping object
7.2.4.2 PDO mapping parameter
PDO mapping is used to establish the mapping relation between the object dictionary and the PDO. 1600h-1603h
are RPDOs, and 1A00h-1A03h are TPDOs. The M5-N series servo drive provides one variable RPDO1, three
fixed RPDO2-RPDO4, one variable TPDO1and and three fixed TPDO2-TPDO4, as listed in the following table.
Max. Number
of Mapping
Objects
6040 (Control word)
60FF (Target velocity)
6040 (Control word)
607A (Target position)
6040 (Control word)
6071 (Target torque)
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