PDO Assignment

	Setting the oversampling factor and position data via the "DC" tab Set the oversampling factor via the "DC" tab (see chapter "Oversampling settings distributed clocks (DC)". The correct sampling ratio at distributed clocks level and the correct number of process data to be transmitted are then set automatically.

The process date "StartTimeNextLatch" (0x1A01) is enabled by default. To disable it,

select the Sync Manager SM 3 in the upper left field "Sync Manager" (see figure above),
disable 0x1A01 "FB Inputs NestSyncTime" in the field below "PDO Assignment".
Restarting the EtherCAT system, or reloading the configuration in Config mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the terminal.

PDO assignment of Sync Managers, EL5031-0011

SM3, PDO Assignment 0x1C13
Index	Size (byte.bit)	Name	PDO Content, Index	Size (byte.bit)
0x1A00 (default) FB Inputs Status	2.0	Status_Error	0x6000:02	0.1
		Status_Ready	0x6000:03	0.1
		[Offset]	-	0.5
		[Offset]	-	0.4
		Status_Diag	0x6000:0D	0.1
		Status_TxPDO State	0x6000:0E	0.1
		Status_Input Cycle counter	0x6000:0F	0.2
0x1A01 (default) FB Inputs NextSyncTime	8.0	StartTimeNextLatch	0x6000:16	8.0
0x1A10 (default) FB Inputs 1 Samples Position	8.0	Position_ARRAY [0]	0x6000:11	8.0
0x1A11 FB Inputs 1 Samples Position compact	4.0	Position_ARRAY [0]	0x6000:12	4.0
0x1A12 FB Inputs 2 Samples Position	16.0	Position_ARRAY [0]	0x6000:11	8.0
0x1A12 FB Inputs 2 Samples Position	16.0	Position_ARRAY [1]	0x6000:11	8.0
0x1A13 FB Inputs 2 Samples Position compact	8.0	Position_ARRAY [0]	0x6000:12	4.0
0x1A13 FB Inputs 2 Samples Position compact	8.0	Position_ARRAY [1]	0x6000:12	4.0
0x1A14 FB Inputs 4 Samples Position	32.0	Position_ARRAY [0]	0x6000:11	8.0
		Position_ARRAY [1]	0x6000:11	8.0
		Position_ARRAY [2]	0x6000:11	8.0
		Position_ARRAY [3]	0x6000:11	8.0
0x1A15 FB Inputs 4 Samples Position compact	16.0	Position_ARRAY [0]	0x6000:12	4.0
		Position_ARRAY [1]	0x6000:12	4.0
		Position_ARRAY [2]	0x6000:12	4.0
		Position_ARRAY [3]	0x6000:12	4.0
0x1A16 FB Inputs 5 Samples Position	40.0	Position_ARRAY [0]	0x6000:11	8.0
		…
		Position_ARRAY [4]	0x6000:11	8.0
0x1A17 FB Inputs 5 Samples Position compact	20.0	Position_ARRAY [0]	0x6000:12	4.0
		…
		Position_ARRAY [4]	0x6000:12	4.0
0x1A18 FB Inputs 8 Samples Position	64.0	Position_ARRAY [0]	0x6000:11	8.0
		…
		Position_ARRAY [7]	0x6000:11	8.0
0x1A19 FB Inputs 8 Samples Position compact	32.0	Position_ARRAY [0]	0x6000:12	4.0
		…
		Position_ARRAY [7]	0x6000:12	4.0
0x1A1A FB Inputs 10 Samples Position	80.0	Position_ARRAY [0]	0x6000:11	8.0
		…
		Position_ARRAY [9]	0x6000:11	8.0
0x1A1B FB Inputs 10 Samples Position compact	40.0	Position_ARRAY [0]	0x6000:12	4.0
		…
		Position_ARRAY [9]	0x6000:12	4.0
0x1A1C FB Inputs 16 Samples Position	80.0	Position_ARRAY [0]	0x6000:11	8.0
		…
		Position_ARRAY [15]	0x6000:11	8.0
0x1A1D FB Inputs 16 Samples Position compact	40.0	Position_ARRAY [0]	0x6000:12	4.0
		…
		Position_ARRAY [15]	0x6000:12	4.0

SM3, PDO Assignment 0x1C13
Index	Size (byte.bit)	Name	PDO Content Index	Size (byte.bit)
0x1A1E FB Inputs 20 Samples Position	160.0	Position_ARRAY [0]	0x6000:11	8.0
		…
		Position_ARRAY [19]	0x6000:11	8.0
0x1A1F FB Inputs 20 Samples Position compact	80.0	Position_ARRAY [0]	0x6000:12	4.0
		…
		Position_ARRAY [19]	0x6000:12	4.0
0x1A20 FB Inputs 25 Samples Position	200.0	Position_ARRAY [0]	0x6000:11	8.0
		…
		Position_ARRAY [24]	0x6000:11	8.0
0x1A21 FB Inputs 25 Samples Position compact	100.0	Position_ARRAY [0]	0x6000:12	4.0
		…
		Position_ARRAY [24]	0x6000:12	4.0
0x1A23 FB Inputs 32 Samples Position compact	128.0	Position_ARRAY [0]	0x6000:12	4.0
		…
		Position_ARRAY [31]	0x6000:12	4.0
0x1A25 FB Inputs 40 Samples Position compact	160.0	Position_ARRAY [0]	0x6000:12	4.0
		…
		Position_ARRAY [39]	0x6000:12	4.0
0x1A27 FB Inputs 50 Samples Position compact	200.0	Position_ARRAY [0]	0x6000:12	4.0
		…
		Position_ARRAY [49]	0x6000:12	4.0