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ASDA-A3

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EtherCAT Mode

13.2.4.3 PDO mapping object

Real-time data transmission can be achieved with Process data objects (PDOs). There are two

types of PDOs: transmit PDOs (TxPDOs) and receive PDOs (RxPDOs). This definition is from

the perspective of the servo drive, for example, the TxPDO refers to the object that the servo

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drive sends to the controller. Set the mapping parameters as shown in the following table to use

the PDOs.

Communication

object

RxPDO1

Mapping object index

1600h

Communication

object

TxPDO1

Mapping object index

1A00h

RxPDO2

RxPDO3

1601h

1602h

TxPDO2

TxPDO3

1A01h

1A02h

RxPDO4

1603h

TxPDO4

1A03h

The format of PDO mapping parameter is:

Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit

Bit 0 - Bit 7

Bit 8 - Bit 15

Bit 16 - Bit 31

Function

Object data length

Object sub-index

Object index

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