How to Review and Edit the EtherCAT Process Data Object (PDO)

The EtherCAT Process Data Object (PDO) is used to configure the synchronous communication between EtherCAT master and slaves.

The TxPDO is the data transmitted from EtherCAT slave to EtherCAT master.
The RxPDO is the data transmitted from the EtherCAT master to the EtherCAT slave.
The EtherCAT Slave Information (ESI) file includes many options for TxPDO and RxPDO for an EtherCAT slave device.
XG5000 allows the PDO to be reviewed and modified for your system configuration.

Accessing the PDO of an EtherCAT slave

Step	Action
1	In the XMC project, double-click on the EtherCAT slave device to open its configuration window.
2	Click PDO Setting in the EtherCAT slave configuration screen.
3	Select between TxPDO and RxPDO using the PDO Type Filter selection drop down.

Step

Action

In the XMC project, double-click on the EtherCAT slave device to open its configuration window.

Click PDO Setting in the EtherCAT slave configuration screen.

Select between TxPDO and RxPDO using the PDO Type Filter selection drop down.

Modifying the PDO

Step	Action
1	Select the mapped object that you want to change.
2	Press the Up arrow to move the selected object to the PDOs To Map section.
3	Select a new PDO object to add from the PDOs to Map list.
4	Press the Down arrow to move the selected object to the Mapped Objects section. Note: Up to ten objects can be mapped in the Mapped Objects List.

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