RxPDO: 273th receive
PDO Mapping
(1710 hex)
FSoE Master CMD (E700-01 hex), STO command (6640 hex), Error Acknowledge
(6632 hex), FSoE Master CRC_0 (E700-03 hex), and FSoE Master Conn_ID
(E700-02 hex)
TxPDO: 273th transmit
PDO Mapping
(1B10 hex)
FSoE Slave CMD (E600-01 hex), STO command (6640 hex), Error Acknowledge
(6632 hex), Safety Connection Status (E601-01 hex), FSoE Slave CRC_0
(E600-03 hex), and FSoE Slave Conn_ID (E600-02 hex)
3-4-4
Variable PDO Mapping
M1-series Inverters allow you to change some mapped objects.
The PDO mapping objects for which you can change the setting are the 1st receive PDO Mapping
(1600 hex) and the 1st transmit PDO Mapping (1A00 hex).
These objects can be changed only when the EtherCAT communications state is Pre-Operational.
Since the mapping you changed is not saved in non-volatile memory, set the EtherCA
T master so that
the settings can be configured each time you turn ON the power supply in order to use the mapping
other than the default setting.
Default Setting
RxPDO: 1st receive PDO
Mapping
(1600 hex)
No variable PDO mapping
TxPDO: 1st transmit
PDO Mapping
(1A00 hex)
No variable PDO mapping
Maximum Number of Objects and Maximum Total Size Allowed in a
PDO Mapping
PDO mapping object Max. number of objects Max. total size of objects
RxPDO
10
*1
32 bytes
*2
TxPDO
10
*1
38 bytes
*2
*1. Total excluding the FsoE protocol
*2. Including the FsoE protocol
Additional Information
For information on the objects you can map, refer to A-2-5 PDO Mapping Objects on page
A-15.
3-4-5
Sync Manager PDO Mapping Assignment Settings
M1-series Inverters use Sync Manager 2 to 3 PDO Assignment.
You can assign PDO mapping objects to each Sync Manager as shown in the following table.
Sync Manager
Assigned
object
Supported
PDO
Assigned PDO mapping object
Max. No. of as-
signed objects
Sync Manager 2 1C12 hex RxPDO 1600 hex, 1700 hex, 1701 hex, and
1710 hex
3
*1
3 EtherCAT Communications
3-8
M1 Series EtherCAT Type User’s Manual (I670)
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