Omron NX102 series User Manual

A-25
Appendices
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
A-3 Multi-vendor Environments
A
A-3-4 Editing PDO Entry Tables
A PDO entry table maps objects in a slave to the process data that is used for communications between
the master and the slave.
You cannot necessarily edit all of the PDO mappings in a PDO entry table.
You can add and delete objects in a PDO entry table or you can change the order of the entries.
The Sysmac Studio provides the functionality to edit slave PDO entry tables.
Initially, a slave PDO entry table contains the default objects. Some slaves have objects other than
these default objects.
You can add objects other than the default objects to the PDO entry table, or you can delete objects
from the PDO entry table. However, the following restrictions apply:
 Byte Boundaries
An OMRON master must arrange entry objects by byte boundaries. (This applies only to objects that
are one byte or larger in size.)
If an entry object is bit data, padding must be entered to adjust the boundaries. Padding is meaning-
less data that is added to the end of an entry so that an object ends at a boundary of the specified
size. You can use the following methods to arrange objects within byte boundaries.
• Click the Align Button.
Padding is automatically entered. Refer to the descriptions of the buttons below for details.
• Add padding to the PDO entries manually.
In the following example, 2 bits of padding are entered to adjust the byte boundary when entering
objects with BIT2 and BIT4 data types for PDO entries.
 Connecting to Slaves from Other Manufacturers
When connecting a slave from another manufacturer, refer to the manuals for the other manufac-
turer's slaves, and then ask your OMRON representative if you have any questions.
A-3-4 Editing PDO Entry Tables
Editing a PDO Entry Table
Index Size Data type PDO entry name Comment
0x6000:00 16[bit] UINT uiAAA
0x6001:00 8[bit] USINT b2BBB
0x6002:00 8[bit] USINT b4CCC
0x6008:00 16[bit] UINT uiddd
0x6010:00 32[bit] UDINT udEEE
Order of entries
Index Size Data type PDO entry name Comment
0x6000:00 16[bit] UINT uiAAA
0x6001:00 2[bit] BIT2 b2BBB
0x6002:00 4[bit] BIT4 b4CCC
0x0000:00 2[bit] --- ---
0x6010:00 32[bit] UDINT udEEE
Because an object with 2 bits and an object with 4 bits are entered,
2 bits of padding must be added to adjust the byte boundary (8 bits).

Omron NX102 series Specifications

General

Brand	Omron
Model	NX102 series
Category	Controller
Language	English