TECO JSDG2S-100A3-E - Page 558

8-53
PDO mapping Preset PDO mapping object
1st PDO Mapping
RxPDO1
(1600h)
Controlword
(6040h)
Target Position
(607Ah)
Target Velocity
(60FFh)
Mode of Operation
(6060h)
TxPDO1
(1A00h)
Statusword
(6041h)
Position Actual Value
(6064h)
Velocity Actual
Valu e
(606Ch)
Mode of Operation
Display
(6061h)
PDO mapping Preset PDO mapping object
2st PDO Mapping(Cyclic synchronous Position):default PDO assignment
*RxPDO2
(1601h)
Controlword
(6040h)
Mode of Operation
(6060h)
Target Position
(607Ah)
*TxPDO2
(1A01h)
Statusword
(6041h)
Position Actual Value
(6064h)
3st PDO Mapping(Cyclic synchronous Velocity)
RxPDO3
(1602h)
Controlword
(6040h)
Mode of Operation
(6060h)
Target Velocity
(60FFh)
TxPDO3
(1A02h)
Statusword
(6041h)
Position Actual Value
(6064h)
4st PDO Mapping(Cyclic synchronous Torque)
RxPDO4
(1603h)
Controlword
(6040h)
Mode of Operation
(6060h)
Target Torque
(6071h)
TxPDO4
(1A03h)
Statusword
(6041h)
Position Actual Value
(6064h)
Torque Actual
Valu e
(6077h)

Each set of PDO mapping can use data up to 32bytes or a maximum of 8 objects. If there are 8 objects
already and byte data is under 32 bytes, the user still cannot add any mapping object.
(8) Distributed clock
In EtherCAT communication, the way of synchronization is called distributed clock. Due to the use
of synchronous clock,EtherCAT communication can have all slave stations synchronized to the same
system time.
(8-1) Free Run
Free Run uses the cycle time generated from JSDG2S-E servo driver system and receives commands
regularly. Under this mode, cycle time is fixed at 4ms.
(8-2) DC mode
DC makes all slave stations use all system time; through controller’s adjustment to error, the time of
receiving the control command of all slave stations can be adjusted to almost the same and thus achieve
synchronous control. JSDG2S-E servo driver synchronous cycle is controlled by SYNC0; the usable
cycle range varies by motion mode.