13.9 SDO/PDO Communication
13-37
13.9.2 PDO Communication
• FP7 MC Unit can perform SDO communication and PDO communication using CoE
(CANopen over EtherCAT) protocol as a communication method with slave devices.
• PDO (Process Data Object) communication is a function to perform the communication
between a master (FP7 MC Unit) and slave devices for each EtherCAT communication cycle.
However, CoE objects (objects allocated to Receive PDO mapping) used for the motion
control operation in FP7 MC Unit cannot be used.
• Objects allocated to Transmit PDO mapping can be monitored in the TxPDo communication
area.
RxPDO
TxPDO
UM 7C8C0
UM 7D458
UM 7DFFF
2,968 words
2,968 words
Master
[FP7 MC Unit]
Slave device
Station address no.ｘｘｘｘ
RxPDO communication area
TxPDO communication area
Unit memory addresses for PDO communication
Data can be sent and received by user programs in accordance with the PDO mapping set in
"13.8 EtherCAT Communication Setting". The addresses of the unit memories used for PDO
communication can be confirmed in the "Variables" tab in the "Device Editor" window of
EtherCAT Configurator.
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