3.1.9.3.3 Advanced PDO mapping
EtherCAT PDOs are transmitted cyclically in a fixed length. The standard set of PDO can be sent at up to 4000
Hz.
Each PDO mapping can be used for different use cases, for example a diagnostics mapping can be configured
in one PDO mapping and this can be discarded for operation.
Mappings can also be added for different drives.
A total of four PDO mappings can be defined with up to 10 objects in each direction.
The defined mappings are configured in objects 0x1A00 - 0x1A03 (TxPDO Mapping) and 0x1600 - 0x1603
(RxPDO Mapping).
The PDO mappings that should be used are defined in the objects 0x1C12 (Incoming: SM Assignment 2) and
0x1C13 (Outgoing: SM Assignment 3).
Note
Since the SM Assignment Mailboxes work as a triple buffer, only 0.3 kByte of data can be used in each
PDO mapping.
3.1.9.3.3.1 Changing the content of an object
To change the content of an object:
1. Disable the object by setting its subindex 0 to 0
2. Enter the objects that should be mapped to the mapping entry subindices 1 to n
3. Set subindex 0 to the number n of used entries
Note
If the subindex 0 is not 0 a write access to any other subindex will only be possible if the entered value
equals the stored value. This can be used to check the device configuration against the master
configuration.
0x1600 RxPDO Mapping 1 Used for defining the incoming PDO mapping 1
0x1601 RxPDO Mapping 2 Used for defining the incoming PDO mapping 2
0x1602 RxPDO Mapping 3 Used for defining the incoming PDO mapping 3
0x1603 RxPDO Mapping 4 Used for defining the incoming PDO mapping 4
0x1A00 TxPDO Mapping 1 Used for defining the outgoing PDO mapping 1
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