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: transmit PDOs (TxPDOs) and receive PDOs (RxPDOs). This definition is from
the perspective of the servo drive, for example, the 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.
Communi-
Communication
cation
object
RxPDO1
RxPDO2
RxPDO3
RxPDO4
The format of PDO mapping parameter is:
Bit
Bit 0 - Bit 7
Bit 8 - Bit 15
Bit 16 - Bit 31
Example:
To set the three PDOs, OD 6040h, OD 607Ah, and OD 6060h, in the first group of PDOs, the
setting is as follows:
Mapping parameter
setting for RxPDO
OD 1600h sub0
OD 1600h sub1
OD 1600h sub2
OD 1600h sub3
Note
RxPDOs
Mapping
object index object index
1400h 1600h
1401h 1601h
1402h 1602h
1403h 1603h
Data
3
6040h 00h
607Ah 00h
6060h 00h
The total length is 38h (56-bit) which meets the specification of less than 64-bit.
TxPDOs
Communi-
Communication
cation
object index
object
TxPDO1 1800h
TxPDO2 1801h
TxPDO3 1802h
TxPDO4 1803h
Function
Object data length
Object sub-index
Object index
Description
Set 3 PDO mappings.
10h -
20h -
08h -
CANopen Mode
12
Mapping
object index
1A00h
1A01h
1A02h
1A03h
12-7