Chapter 7 EtherCAT Communication
6064 (Position actual value)
606C (Velocity actual value)
6041 (Status word)
6064 (Position actual value)
6041 (Status word)
6064 (Position actual value)
6077 (Torque actual value)
7.2.4.3 PDO configuration
PDO mapping parameters contain indicators of the process data for PDOs, including the index, sub-index and
mapping object length. The sub-index 0 indicates the number (n) of mapping objects in the PDO, and the
maximum length of each PDO is 4*n bytes. One or multiple objects can be mapped simultaneously. Sub-indexes
1 to n indicate the mapping content, as defined below:
The index and sub-index together define the position of an object in the object dictionary. The object length
indicates the bit length of the object in hexadecimal, as shown below:
For example, the mapping parameter of the 8-bit operating mode 6060-00h is 60600008h, the mapping
parameter of the 16-bit control word 6040-00h is 60400010h, the mapping parameter of the 32-bit interpolated
position 60C1-01h is 60C10120h.
7.2.4.4 Steps for PDO mapping
• Stop PDO allocation function (1C12h and 1C13h sub-index 00h write 0, PDO allocation invalid);
• Stop PDO mapping function (set all sub-index 00h of 1600h and 1A00h to 0 to clear the original mapping
content).
• Set the content of the PDO mapping object (based on actual application, sub-index 1 to 10 of 1600h and 1A00h
are written into the index, sub-index, and length of the mapping object respectively).
• Set the number of PDO mapping objects (based on actual application, the sub-index 00h of 1600h and 1A00h is
set to 1~10 ).
• Set PDO allocation object (set the sub-index 1 of 1C12h and 1C13h);
• Turn on the PDO allocation function again (the sub-index 00h of 1C12h and 1C13h is set to 1).
7.2.5 Mailbox data SDO
The EtherCAT mailbox data SDO is used to transfer non-cyclic data, such as communication parameter
configuration and servo drive parameter configuration. The CoE service types of EtherCAT include:Emergency
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