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EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 SDO Header Word and Command Byte Sample: COE Header 2000h : SDO Cmd 2Fh : Req. Index 1C10h : Index 1C11h : Index 1C12h : Index 1C13h : SDO Request Data in Data Set Size, exp. Transfer, 1 Oct. Data, Download Sync Manager 0 PDO Assignment (UNSIGNED16) Sync Manager 1 PDO Assignment (UNSIGNED16) Sync Manager 2 PDO Assignment (UNSIGNED16) Sync Manager 3 PDO Assignment (UNSIGNED16) SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 62
EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 7.7.1 PDO Mapping The PDO mapping allows to assign desired function data to the EtherCAT telegram. The PDO mapping is tunneled via SDO (Service Data Obj<strong>ect</strong>s). PDO mapping by DS402 Application Layer CoE Rx PDO 0x6040 0x60FF Control Velocity Word Control 0x607A Position Control 0x6071 Torque Control CoE Tx PDO 0x6041 0x606C Status Velocity Word Status 0x6064 Position Status 0x6077 Torque Status Rx PDO Assign 0x1C12 SYNCMAN 2 Tx PDO Assign 0x1C13 SYNCMAN 3 Rx PDO Mapping 0x1600 Tx PDO Mapping 0x1A00 Mailbox Output (e.g. ADO = 1800) Mailbox Input (e.g. ADO = 18F6) Process Data SYNCMAN 2 SYNCMAN 3 Data Link Layer SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 63
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