Process Data Object (Pdo) - Delta ASDA-A3 Series User Manual

ASDA-A3

12.2.2.1 Process data object (PDO)

Real-time data transmission can be achieved with Process data objects (PDOs). There are two
types of PDOs: the sent TxPDO and the received RxPDO. This definition is from the perspective
of the servo drive, for example, the sent TxPDO refers to the object that the servo drive sends to
the controller. Set the communication parameters and mapping parameters as shown in the
following table to use the PDOs.
Communication
object
R_PDO1
R_PDO2
R_PDO3
R_PDO4
The mapping parameter format of PDO is:
31 30
Bit
15 14
Bit
Bit
Bit 0 - Bit 7
Bit 8 - Bit 15
Bit 16 - Bit 31
Example:
To set three PDOs (OD 6040h, OD 607Ah, and OD 6060h) in the first group of PDOs,
the setting is as follows:
Mapping parameter
setting for received
PDO
OD 1600 sub0
OD 1600 sub1
OD 1600 sub2
OD 1600 sub3
Note
Received RxPDO
Communication Mapping
object object
parameter parameter
1400h 1600h
1401h 1601h
1402h 1602h
1403h 1603h
28
29 27 26
12
13 11 10
Data
6040h
607Ah
6060h
The total length is 38h (56-bit) which meets the specification of less than 64-bit.
Communication
object
T_PDO1
T_PDO2
T_PDO3
T_PDO4
25 24 23 22 21
9 8 7 6 5
Function
Object length
Object sub-index
Object index
3
00h 10h
00h 20h
00h 08h
CANopen Mode
Sent TxPDO
Communication Mapping
object object
parameter parameter
1800h 1A00h
1801h 1A01h
1802h 1A02h
1803h 1A03h
20
19 18 17 16
4
3 2 1 0
Description
Set 3 PDO mappings.
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