EPP5151-0002 - PDO assignment

PDO Assignment

To configure the process data, select the required Sync Manager (SM 2 or SM 3 can be changed) in the Sync Manager field at the top left (see illustration above). The process data assigned to this Sync Manager can then be switched on or off in the PDO Assignment field below. 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 box.

SM2, PDO Assignment 0x1C12
Index	Index of excluded PDOs	Size (byte.bit)	Name	PDO Content (index - name)
0x1600 (default)	0x1601	4.0	ENC Control compact	0x7000:01 - Enable Latch C 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)
0x1601	0x1600	6.0	ENC Control	0x7000:01 - Enable Latch C 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 (32-bit)

SM3, PDO Assignment 0x1C13
Index	Index of excluded PDOs	Size (byte.bit)	Name	PDO Content (index - name)
0x1A00 (default)	0x1A01	6.0	ENC Status compact	0x6000:01 - Latch C valid 0x6000:02 - Latch extern valid 0x6000:03 - Set counter done 0x6000:04 - Counter underflow 0x6000:05 - Counter overflow 0x6000:06 - Status of input status 0x6000:07 - Open circuit 0x6000:08 - Extrapolation stall 0x6000:09 - Status of input A 0x6000:0A - Status of input B 0x6000:0B - Status of input C 0x6000:0C - Status of input gate 0x6000:0D - Status of extern latch 0x1C32:20 - Sync error 0x1800:07 - TxPDO State 0x1800:09 - TxPDO Toggle 0x6000:11 - Counter value (16-Bit) 0x6000:12 - Latch value (16-Bit)
0x1A01	0x1A00	10.0	ENC Status	0x6000:01 - Latch C valid 0x6000:02 - Latch extern valid 0x6000:03 - Set counter done 0x6000:04 - Counter underflow 0x6000:05 - Counter overflow 0x6000:06 - Status of input status 0x6000:07 - Open circuit 0x6000:08 - Extrapolation stall 0x6000:09 - Status of input A 0x6000:0A - Status of input B 0x6000:0B - Status of input C 0x6000:0C - Status of input gate 0x6000:0D - Status of extern latch 0x1C32:20 - Sync error 0x1800:07 - TxPDO State 0x1800:09 - TxPDO Toggle 0x6000:11 - Counter value (32-Bit) 0x6000:12 - Latch value (32-Bit)
0x1A02	0x1A03	4.0	ENC Frequency	0x6000:13 - Frequency value
0x1A03	0x1A02	4.0	ENC Period	0x6000:14 - Period value
0x1A04	0x1A05	8.0	ENC Timest.	0x6000:16 - timestamp (64-bit)
0x1A05	0x1A04	4.0	ENC Timest. compact	0x6000:16 - timestamp compact (32-bit)