Setting Procedure For Pdo Mappings; Default Pdo Mappings - YASKAWA SGD7S-1R9D Product Manual

12.4.1

Setting Procedure for PDO Mappings

1.
Disable the assignments between the Sync Manager and PDOs.
(Set subindex 0 of objects 1C12 hex to 1C13 hex to 0.)
2.
Set all of the mapping entries for the PDO mapping objects.
(Set objects 1600 hex to 1603 hex and 1A00 hex to 1A03 hex.)
3.
Set the number of mapping entries for the PDO mapping objects.
(Set subindex 0 of objects 1600 hex to 1603 hex and 1A00 hex to 1A03 hex.)
4.
Set the assignments between the Sync Manager and PDOs.
(Set subindex 1 of objects 1C12 hex to 1C13 hex.)
5.
Enable the assignments between the Sync Manager and PDOs.
(Set subindex 0 of objects 1C12 hex to 1C13 hex to 1.)
12.4.2

Default PDO Mappings

The following table shows the default PDO mappings for the SERVOPACK.
These initial settings are also defined in the EtherCAT slave information file (XML format).
• 1st PDO Mapping (Position, Velocity, Torque, Torque Limit, and Touch Probe)
RxPDO Controlword
(6040 hex)
(1600 hex)
TxPDO
Statusword
(6041 hex)
(1A00 hex)
• 2nd PDO Mapping (Cyclic Synchronous Position): Default PDO Assignments
RxPDO Controlword
(6040 hex)
(1601 hex)
TxPDO
Statusword
(6041 hex)
(1A01 hex)
• 3rd PDO Mapping (Cyclic Synchronous Velocity)
RxPDO
Controlword
(6040 hex)
(1602 hex)
TxPDO Statusword
(6041 hex)
(1A02 hex)
• 4th PDO Mapping (Cyclic Synchronous Torque)
RxPDO
Controlword
(1603 hex) (6040 hex)
TxPDO
Statusword
(6041 hex)
(1A03 hex)
Target
Target position
velocity
(607A hex)
(60FF hex)
Torque
Position actual actual
value (6064 hex) value
(6077 hex)
Target position
(607A hex)
Position actual
value (6064 hex)
Target velocity
(60FF hex)
Position actual
value (6064 hex)
Target torque
(6071 hex)
Torque
Position actual actual
value (6064 hex) value
(6077 hex)

12.4.1 Setting Procedure for PDO Mappings

Mode of
Target
Max torque
torque operation
(6072 hex)
(6071 hex) (6060 hex)
Following Modes of
error actual operation Padding
value (60F4 display (8 bits)
hex) (6061 hex)
12.4 PDO Mappings
Touch
probe
Padding
function
(8 bits)
(60B8
hex)
Touch
Touch
probe
probe
value
status
(60BA
(60B9 hex)
hex)
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