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Appendix| EtherCAT
optoNCDT 2300
A 7.2.7 Process Data PDO Mapping
Process Data Objects (PDOs) are used for the exchange of time-critical process data between master and slaves. Tx PDOs are used
for the transmission of data from the slaves to the master (inputs), Rx PDOs are used to transmit data from the master to the slaves
(outputs); not used in the optoNCDT2300. The PDO mapping defines which application objects (measurement data) are transmitted
into a PDO. The optoNCDT2300 has a Tx PDO for the measuring data.
The following measurements are available as process data:
Designation Description
Shutter time Exposure time (32 bits)
Value counter Measured value counter (32 bits)
Timestamp Timestamp (32 bits)
Intensity 1 Intensity 1
Distance 1 (default) Distance 1
Intensity 2 Intensity 2
Distance 2 (default) Distance 2
Status Status
Difference 1-2 Difference 1-2 (thickness)
Statistic minimum value Statistical value (minimum)
Statistic maximum value Statistical value (maximum)
Statistic peak-peak value Statistical value (peak to peak)
Fig. 64 Measurements of the ILD2300
In EtherCAT the PDOs are transported in objects of the Sync Manager channel. The sensor uses the Sync Manager channel SM3 for
input data (Tx data). The PDO assignments of the Sync Manager can only be changed in the “Pre-Operational” state. The mapping in
the optoNCDT2300 is not carried out directly in the object 0x1A00, but rather by switching on and off individual measurements in the
application object 0x21B0. The mapping result is available to the master after reloading the object directory.
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