SMC Networks LECSN-T Series User Manual

18 - 20
18．EtherCAT COMMUNICATION
18.3.3 PDO default mapping
POINT
The driver supports the variable PDO mapping function, which can select objects
transferred in the PDO communication. Refer to section 3.4 for changing the
PDO mapping.
(1) RxPDO default mapping
In the default mapping setting, command data is sent from the master (upper side) to slaves (driver) with
RxPDO in the following array. In the _ driver, the mapping objects of 1600h to 1603h can be used as the
RxPDO default mapping table.
Map number
Mapping initial setting
Expected application of the initial map
1st RxPDO map (1600h)
Modes of operation (6060h)
Controlword (6040h)
Control DI 1 (2D01h)
Control DI 2 (2D02h)
Control DI 3 (2D03h)
Target position (607Ah)
Target velocity (60FFh)
Velocity limit value (2D20h) (Note 1)
Target torque (6071h)
Positive torque limit value (60E0h) (Note 2)
Negative torque limit value (60E1h) (Note 2)
Touch probe function (60B8h)
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Homing mode (hm)
Mapping for an application in which the modes
above are switched
The following functions can be used together.
Speed limit function (in cst)
Torque limit function
Touch probe function
Map size: 29 bytes
2nd RxPDO map (1601h)
Modes of operation (6060h)
Controlword (6040h)
Control DI 1 (2D01h)
Control DI 2 (2D02h)
Control DI 3 (2D03h)
Target position (607Ah)
Target velocity (60FFh)
Velocity limit value (2D20h) (Note 1)
Target torque (6071h)
Profile velocity (6081h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Torque slope (6087h)
Positive torque limit value (60E0h) (Note 2)
Negative torque limit value (60E1h) (Note 2)
Touch probe function (60B8h)
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
Mapping for an application in which the modes
above are switched
The following functions can be used together.
Speed limit function (in tq)
Torque limit function
Touch probe function
Map size: 45 bytes
3rd RxPDO map (1602h)
Modes of operation (6060h)
Controlword (6040h)
Control DI 1 (2D01h)
Control DI 2 (2D02h)
Control DI 3 (2D03h)
Target point table (2D60h)
Profile velocity (6081h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Touch probe function (60B8h)
Point table mode (pt) or indexer mode (idx)
Jog mode (jg)
Homing mode (hm)
Mapping for an application in which the modes
above are switched.
Map size: 25 bytes
4th RxPDO map (1603h)
Unassigned
Note 1.
The Velocity limit value (2D20h) is a speed limit value for the torque control. Be sure to set a correct value because setting
0 will limit the speed to 0.
2.
Positive torque limit value (60E0h)/Negative torque limit value (60E1h) are torque limit values of forward/reverse rotation.
Setting 0 will not generate torque. Be sure to set a correct value.

SMC Networks LECSN-T Series Specifications

General

Brand	SMC Networks
Model	LECSN-T Series
Category	Controller
Language	English