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10
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 at least 8 parameters mapped to RxPDO and 8 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
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)
Receive PDOs (RxPDO)
The Receive PDOs have a default mapping according to the table below. The end user can re-map Receive PDOs by writing to the map objects
0x1600-1628, refer to
Communication Profile Objects (DSP 301) on page
PDO number
1
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
2
Sub-index 2: 0x6060#0, 1-bytes, (DSP402 Modes of operation)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
6
Sub-index 2: 0x6042#0, 2-bytes, (vl target velocity)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
7
Sub-index 2: 0x60FE#1, 4-bytes, (Physical digital outputs)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
8
Sub-index 2: 0x6060#0, 1-bytes, (DSP402 Modes of operation)
Sub-index 1: 0x6048#1, 4-bytes (vl Accel delta speed)
21
Sub-index 2: 0x6048#2, 2-bytes, (vl Accel delta time)
Sub-index 1: 0x6049#1, 4-bytes (vl Decel delta speed)
22
Sub-index 2: 0x6049#2, 2-bytes, (vl Decel delta time)
Sub-index 1: 0x604A#1, 4-bytes (vl quick-stop delta speed)
23
Sub-index 2: 0x604A#2, 2-bytes, (vl quick-stop delta time)
Sub-index 1: 0x604C#1, 4-bytes (vl Dimension factor)
24
Sub-index 2: 0x604C#2, 4-bytes, (vl Dimension factor)
36
Sub-index 1: 0x2000#1, 2-bytes (Operation command)
37
Sub-index 1: 0x2010#1, 2-bytes (Speed reference/limit)
38
Sub-index 1: 0x2020#1, 2-bytes (Torque reference/limit)
39
Sub-index 1: 0x2030#1, 2-bytes (Torque compensation)
40
Sub-index 1: 0x2040#1, 4-bytes (MEMOBUS/Modbus read request)
41
Sub-index 1: 0x2050#1, 4-bytes (MEMOBUS/Modbus write request)
YASKAWA EUROPE GMBH YEU SIEP C710616 86A - AC Drive A1000 Option Powerlink - Technical Manual
Communication Profile Objects (DSP 301) on page
Transmit PDO Mapping
Mapped objects (Hex)
Receive PDO Mapping
Mapped objects (Hex)
18.
Index (Hex)
0x1A00
0x1A01
0x1A05
0x1A06
0x1A14
0x1A15
0x1A16
0x1A17
0x1A18
0x1A19
0x1A23
0x1A24
0x1A25
0x1A26
0x1A27
0x1A28
18.
Index (Hex)
0x1600
0x1601
0x1605
0x1606
0x1607
0x1614
0x1615
0x1616
0x1617
0x1623
0x1624
0x1625
0x1626
0x1627
0x1628
10 Process Data Objects (PDO)
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