Megmeet SPS-NE Series - Page 54

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Object length
Length (bit)
08h
8
10h
16
20h
32
For example:
The mapping value for the 8-bit working mode 6060-00h is 60600008h;
The mapping value for the 16-bit control word 6040-00h is 60400010h;
The mapping value for the 32-bit interpolated data record 60C1-01h is 60C10120h.
(4) PDO mapping steps
 Disable the PDO assignment function (by setting the sub-index 00h of 1C12h and 1C13h to 0);
 Disable the PDO mapping function (by setting the sub-index 00h of 1600h and 1A00h to 0 to clear the original
mapping contents);
 Set the contents of PDO mapping objects (by writing the indexes, sub-indexes and lengths of mapping objects
to the sub-indexes 1–10 of 1600h and 1A00h, depending on the actual application);
 Set the number of PDO mapping objects (by setting the sub-indexes 00h of 1600h and 1A00h to 1–10,
depending on the actual application);
 Set the PDO assignment objects (by setting the sub-indexes 1 of 1C12h and 1C13h);

Enable the PDO assignment function (by setting the sub-indexes 00h of 1C12h and 1C13h to 1)
6. Mailbox data SDO
EtherCAT mailbox data SDO is used to transmit non-cyclic data, such as the configuration of communication
parameters and drive parameters.
The CoE service types of EtherCAT include: emergency information, SDO request, SDO response, remote TxPDO
request, remote RxPDO request and SDO information.
The SPS-NE series servo drive supports “SDO request”, “SDO response” and “SDO information”.