PDO Mapping

The PDO mapping for EtherCATdevices is both static and dynamic (dynamic only for Mapping1) and contains the objects necessary to all supported modes.

• Only one RxPdoMapping can be active. To change the active RxPdoMapping, set 1C12.1h obj (default value = 1600H) in the Pre-Operational condition.

• Only one TxPdoMapping can be active. To change the active TxPdoMapping, set 1C13.1h obj (default value = 1A00H) in the Pre-Operational condition.

The following table shows EtherCAT PDO Mapping list and default objects for each PDO Mapping:

PDO Mapping List	Description
RxPdoMapping1 (0x1600)	Controlword (Controlword) Modes_of_operation (Modes of operation) B0_Digital_Outputs (B0_Digital_Outputs) Target_Position (Target_Position) Interpolation_Data_x1 (Interpolation data record (position set-point)) Target_Velocity (Target_Velocity)
RxPdoMapping2 (0x1601)	Controlword (Controlword) Modes_of_Operation (Modes of operation) B0_Digital_Outputs (B0_Digital_Outputs) Target_Position (Target_Position) Interpolation_Data_x1 (Interpolation data record (position set-point)) Target_Velocity (Target_Velocity) Touch_Probe_Function (Touch_Probe_Function )
RxPdoMapping3 (0x1602)	Controlword (Controlword) Modes_of_Operation (Modes of operation) B0_Digital_Outputs (B0_Digital_Outputs) Target_Position (Target_Position) Target_Velocity (Target_Velocity) Max_Current (Max_Current) Boost_Current (Boost_Current)
TxPdoMapping1 (0x1A00)	Statusword (Statusword) Modes_of_Operation_Display (Modes of operation display) B0_Digital_Inputs (B0_Digital_Inputs) Position_Actual_Value (Position_Actual_Value) Velocity_Actual_Value (Velocity_Actual_Value) Following_Error_Actual_Value (Following_error_actual_value)
TxPdoMapping2 (0x1A01)	Statusword (Statusword) Modes_of_Operation_Display (B0_Digital_Inputs) B0_Digital_Inputs (B0_Digital_Inputs) Position_Actual_Value (Position_Actual_Value) Velocity_Actual_Value (Velocity_Actual_Value) Following_Error_Actual_Value (Following_error_actual_value) Touch_Probe1_Positive_Edge (Touch_Probe1_Positive_Edge) Touch_Probe2_Positive_Edge (Touch_Probe2_Positive_Edge) Touch_ProBe_Status (Touch_Probe_Status ), Error_Code (Error Code)
TxPdoMapping3 (0x1A02)	Statusword (Statusword) Modes_of_Operation_Display (Modes of operation display) B0_Digital_Inputs (B0_Digital_Inputs) Position_Actual_Value (Position_Actual_Value) Error_Code (Error Code)