SMC Networks LECSN-T Series - 18.3.4 PDO variable mapping

18 - 22
18．EtherCAT COMMUNICATION
18.3.4 PDO variable mapping
POINT
The PDO mapping can be changed only in the Pre Operational state.
The driver supports the variable PDO mapping function, which can arrange objects in any array for the data
transferred with RxPDO or TxPDO.
The following table shows the specifications of the PDO variable mapping.
Communication
Maximum number
of objects
Maximum size
[byte]
Number of mapping
settings
RxPDO
32
64
4 (1600h to 1603h)
TxPDO
4 (1A00h to 1A03h)
The following table lists the PDO mapping objects.
Index
Sub
Object
Name
Data
Typ
e
Acces
s
Default
Description
1600h
0
RECOR
D
Receive PDO
Mapping
U8
rw
12
Refer to section 7.3.2 (1).
1 to
32
Mapped Object 001
to
Mapped Object 032
U32
rw
60600008h
to
00000000h
1601h
0
RECOR
D
Receive PDO
Mapping
U8
rw
16
Refer to section 7.3.2 (2).
1 to
32
Mapped Object 001
to
Mapped Object 032
U32
rw
60600008h
to
00000000h
1602h
0
RECOR
D
Receive PDO
Mapping
U8
rw
10
Refer to section 7.3.2 (3).
1 to
32
Mapped Object 001
to
Mapped Object 032
U32
rw
60600008h
to
00000000h
1603h
0
RECOR
D
Receive PDO
Mapping
U8
rw
0
Refer to section 7.3.2 (4).
1 to
32
Mapped Object 001
to
Mapped Object 032
U32
rw
1A00h
0
RECOR
D
Transmit PDO
Mapping
U8
rw
14
Refer to section 7.3.2 (5).
1 to
32
Mapped Object 001
to
Mapped Object 032
U32
rw
60610008h
to
00000000h
1A01h
0
RECOR
D
Transmit PDO
Mapping
U8
rw
19
Refer to section 7.3.2 (6).
1 to
32
Mapped Object 001
to
Mapped Object 032
U32
rw
60610008h
to
00000000h
1A02h
0
RECOR
D
Transmit PDO
Mapping
U8
rw
0
Refer to section 7.3.2 (7).
1 to
32
Mapped Object 001
to
Mapped Object 032
U32
rw
1A03h
0
RECOR
D
Transmit PDO
Mapping
U8
rw
0
Refer to section 7.3.2 (8).
1 to
32
Mapped Object 001
to
Mapped Object 032
U32
rw
1C12h
0
ARRAY
Sync Manager 2 PDO
Assignment
U8
ro
1
Refer to section 7.3.3 (2).