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EtherCAT Mode

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ASDA-A3

13.2.4 PDO mapping configuration

13

The PDO mapping objects are allocated from OD 1600h to OD 1603h for RxPDOs and OD

1A00h to OD 1A03h for TxPDOs in the object dictionary. Each group of RxPDO and TxPDO

supports updating the PDO data for up to 8 sets of 32-bit objects.

13.2.4.1 Default PDO mapping configuration

The following tables show the default PDO mapping configuration of the EtherCAT servo drive

for data exchange. This is also defined in the XML file of the EtherCAT slave. You can modify

the PDO mapping configuration according to the requirements. The fourth group of RxPDO and

TxPDO is the suggested configuration for Omron controllers.

In Delta ASDA-x3-E rev0.04.xml, the first to fourth groups of PDO configuration are shown as

follows:

First group of RxPDO mapping

RxPDO

(OD 1600h)

Controlword

(OD 6040h)

Target position

(OD 607Ah)

Target velocity

(OD 60FFh)

Touch probe

function

(OD 60B8h)

First group of TxPDO mapping

TxPDO

(OD 1A00h)

Statusword

(OD 6041h)

Touch probe pos1

pos value

(OD 60BAh)

Position actual

value

(OD 6064h)

Digital inputs

(OD 60FDh)

Velocity actual

value

(OD 606Ch)

Touch probe

status

(OD 60B9h)

Second group of RxPDO mapping (default)

RxPDO

(OD 1601h)

Controlword

(OD 6040h)

Touch probe

function

(OD 60B8h)

Target position

(OD 607Ah)

Target velocity

(OD 60FFh)

Target torque

(OD 6071h)

Second group of TxPDO mapping (default)

TxPDO

(OD 1A01h)

Statusword

(OD 6041h)

Touch probe

status

(OD 60B9h)

Position actual

value

(OD 6064h)

Touch probe pos1

pos value

(OD 60BAh)

Velocity actual

value

(OD 606Ch)

Digital inputs

(OD 60FDh)

Torque actual

value

(OD 6077h)

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