txPDO

  3 minute read  

txPDOs are used to transfer data cyclically between EtherCAT master and the EtherCAT slave. Typical examples of data mapped to txPDOs are entries such as actual positions, velocities, and status words.

You can create mapping in two methods, either manually starting with an empty mapping, or from an ESI-file.

Add New PDO mapping:

You can add manually a PDO mapping with custom entries. Be aware, when creating a custom mapping, that your slave also needs to supports this. It is highly recommended to use and ESI-file instead of manual mapping.

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  1. Add a new txPDO by pressing the Add PDO button. This adds a new PDO mapping input field.
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  1. At 0000, you need to define the Object Id in hex. (Example: 1A00)

  2. At Group, define the Group Name for this PDO mapping. All entries inside this PDO are stored in this group and are visible via the desk-tool.

  3. At Name, define a Name (Example: .data). This name will be displayed in the parameter tree (desk-tool). The .data object will contain all information of the PDO mapping, and can be copied to another PDO mapping via linking.

  4. Define the syncmanager used for this PDO mapping.

  5. Use the Include in EtherCAT message checkbox to include or exclude the PDO from the EtherCAT message. Excluded PDOs are not configured inside the EtherCAT device.

  6. Use the Show in data tree button to choose whether to hide or show this PDO inside the parameter tree (desk-tool).

  7. Press the More Actions button to open a dropdown list:

    • With the button you can add a link .data object from one PDO mapping to another. Be aware that the the size of the copied data should be the same as the PDO mapping size.

    • With the Delete button, you can delete an entry from the list.

Add New Entry:

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Example:

Name: Index:Sub: Type: Bit Size:
Status Word 0x6041:00 UINT 16

  1. At - 0000:00, you need to define the Object Index and Subindex. (Example: 6041:00)

  2. At Group, define the Group Name for this entry mapping. All entries with the same group name are stored in the same group and are visible via the desk-tool.

  3. At Name, define a Name (Example: Status Word). This name will be displayed in the parameter tree (desk-tool).

  4. Define the data size and type (Example: UINT16). If a data type is not filled in, the input field appears red.

  5. Use the Include in EtherCAT message checkbox to include or exclude the entry from the EtherCAT message. Excluded entries are not configured inside the EtherCAT device.

  6. Use the Show in data tree button to choose whether to hide or show this entry inside the parameter tree (desk-tool).

  7. Press the More Actions button to open a dropdown list:

    • With the button you can add a link (Motorcortex parameter) to the mapped entry. Information from this link is copied to this entry mapping.

    • With the Add Mapping button you can subdivide the entry into bits; the mapping is displayed as a decimal number.

    • With the Delete button, you can delete an entry from the list.