PDO Assignment

In order to configure the process data, select the desired Sync Manager (SM2 and SM3 can be edited) in the upper left-hand "Sync Manager" box (see fig.).
The process data assigned to this Sync Manager can then be switched on or off in the “PDO Assignment” box underneath.
Restarting the EtherCAT system, or reloading the configuration in configuration mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the terminal.

Default PDO assignment of the sync managers, EL7342

SM2, PDO assignment 0x1C12, default
Index	Index of excluded PDOs	Size (byte.bit)	Name	PDO content Index - name
0x1600	0x1601	4.0	ENC Control compact Ch. 1	0x7000:02 - Enable Latch extern on positive edge 0x7000:03 - Set counter 0x7000:04 - Enable Latch extern on negative edge 0x7000:11 - Set counter value (16-bit)
0x1602	0x1603	4.0	ENC Control compact Ch. 2	0x7010:02 - Enable Latch extern on positive edge 0x7010:03 - Set counter 0x7010:04 - Enable Latch extern on negative edge 0x7010:11 - Set counter value (16-bit)
0x1604	-	2.0	DCM control Ch. 1	0x7020:01 - Enable 0x7020:02 - Reset 0x7020:03 - Reduce torque
0x1606	0x1605 0x160A 0x160B	2.0	DCM velocity Ch. 1	0x7020:21 - Velocity
0x1607	-	2.0	DCM control Ch. 2	0x7030:01 - Enable 0x7030:02 - Reset 0x7030:03 - Reduce torque
0x1609	0x1608 0x160C 0x160D	2.0	DCM velocity Ch. 2	0x7030:21 - Velocity

SM3, PDO Assignment 0x1C13, default
Index	Index of excluded PDOs	Size (byte.bit)	Name	PDO content
0x1A00	0x1A01	6.0	ENC Status compact Ch. 1	0x6000:02 - Latch extern valid 0x6000:03 - Set counter done 0x6000:04 - Counter underflow 0x6000:05 - Counter overflow 0x6000:08 - Extrapolation stall 0x6000:09 - Status of input A 0x6000:0A - Status of input B 0x6000:0D - Status of extern latch 0x6000:0E - Sync error 0x6000:10 - TxPDO Toggle 0x6000:11 - Counter value (16-Bit) 0x6000:12 - Latch value (16-Bit)
0x1A03	0x1A04	6.0	ENC Status compact Ch. 2	0x6010:02 - Latch extern valid 0x6010:03 - Set counter done 0x6010:04 - Counter underflow 0x6010:05 - Counter overflow 0x6010:08 - Extrapolation stall 0x6010:09 - Status of input A 0x6010:0A - Status of input B 0x6010:0D - Status of extern latch 0x6010:0E - Sync error 0x6010:10 - TxPDO Toggle 0x6010:11 - Counter value (16-Bit) 0x6010:12 - Latch value (16-Bit)
0x1A06	-	2.0	DCM Status Ch. 1	0x6020:01 - Ready to enable 0x6020:02 - Ready 0x6020:03 - Warning 0x6020:04 - Error 0x6020:05 - Moving positive 0x6020:06 - Moving negative 0x6020:07 - Torque reduced 0x6020:0C - Digital input 1 0x6020:0D - Digital input 2 0x6020:0E - Sync error 0x6020:10 - TxPDO Toggle
0x1A08	-	2.0	POS Status	0x6030:01 - Ready to enable 0x6030:02 - Ready 0x6030:03 - Warning 0x6030:04 - Error 0x6030:05 - Moving positive 0x6030:06 - Moving negative 0x6030:07 - Torque reduced 0x6030:0C - Digital input 1 0x6030:0D - Digital input 2 0x6030:0E - Sync error 0x6030:10 - TxPDO Toggle