Process Data Objects (Pdo) - YASKAWA Powerlink A1000 Series Installation Manual

8 Process Data Objects (PDO)

8 Process Data Objects (PDO)
PDOs (Process Data Object) will be used for I/O exchange. PDOs are mapped to objects
during configuration (PRE-OPERATIONAL state).
TxPDOs are used to transfer data from the option card and RxPDOs are used to transfer data
to the option card.
The module supports 16 parameters mapped to RxPDO and 16 parameters mapped to
TxPDO.
 PDOs and Default PDO Setup
The drive supports 15 Receive and 16 Transmit PDOs. The tables below show available
PDOs, their default settings and the objects required to set up when changing the PDO
configuration or the PDO mapping.
Transmit PDOs (TxPDO)

The Transmit PDOs have a default mapping according to the table below. The transmit
PDOs can be re-mapped by the end user by writing to map objects 0x1A00-0x1A28, please
see page 21.
PDO number
1 Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
2
Sub-index 2: 0x6061#0, 2-bytes, (DSP402 Modes of operation display)
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
6
Sub-index 2: 0x6044#0, 2-bytes, (vl control effort)
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
7
Sub-index 2: 0x60FD#0, 4-bytes, (Digital inputs)
21 Sub-index 1: 0x6042#0, 2-bytes (vl target velocity)
22 Sub-index 1: 0x6043#0, 2-bytes (vl velocity demand)
Sub-index 1: 0x6048#1, 4-bytes (vl Accel delta speed)
23
Sub-index 2: 0x6048#2, 2-bytes, (vl Accel delta time)
Sub-index 1: 0x6049#1, 4-bytes (vl Decel delta speed)
24
Sub-index 2: 0x6049#2, 2-bytes, (vl Decel delta time)
Sub-index 1: 0x604A#1, 4-bytes (vl quick-stop delta speed)
25
Sub-index 2: 0x604A#2, 2-bytes, (vl quick-stop delta time)
Sub-index 1: 0x604C#1, 4-bytes (vl Dimension factor)
26
Sub-index 2: 0x604C#2, 4-bytes, (vl Dimension factor)
36 Sub-index 1: 0x2100#1, 2-bytes (Drive status)
37 Sub-index 1: 0x2110#1, 2-bytes (Output frequency)
38 Sub-index 1: 0x2120#1, 2-bytes (Output current)
39 Sub-index 1: 0x2130#1, 2-bytes (Output torque reference)
40 Sub-index 1: 0x2140#1, 2-bytes (MEMOBUS/Modbus read response)
41 Sub-index 1: 0x2150#1, 2-bytes (MEMOBUS/Modbus write response)
EN 24
Transmit PDO Mapping
Mapped objects (Hex)
YASKAWA Europe YEU TOEP C710616 87A - A1000 Option Powerlink - Installation Manual
Index (Hex)
0x1A00
0x1A01
0x1A05
0x1A06
0x1A14
0x1A15
0x1A16
0x1A17
0x1A18
0x1A19
0x1A23
0x1A24
0x1A25
0x1A26
0x1A27
0x1A28