Synchronization Modes; Process Data - Pdo; Pdos Mapping - WEG SCA06 User Manual

6.4

SYNCHRONIZATION MODES

Data update may be performed using two synchronization mechanisms:
SM-Synchronous: data update is based on Sync Managers 2 and 3. When a telegram is received by interface
for data update, at this momment it runs the internal data update routine by the slave.
DC-Synchronous: data update is synchronous, using distributed clock mechanism.
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NOTE!
The minimum cycle allowed for SCA06 servo drive data updating over the network is 1ms.
6.5

PROCESS DATA - PDO

The process data (cyclic data), used to control and monitor the equipment during operation, are transmitted and
received by the slave using PDOs. There are two types of PDOs:
Receive PDO - RxPDO: receive data from the master, as commands and references. The device provides four
RxPDOs, each with a standard mapping, but only one RxPDO can be enabled at a time.
Transmit PDO - TxPDO: transmit data to the master, as states and process variables. The device provides four
TxPDOs, each with a standard mapping, but only one TxPDO can be enabled at a time.
6.5.1

PDOs Mapping

The mapping defines the content transmitted by each PDO, based on the objects dictionary of the slave. It is possible
to map up to 8 objects for each PDO. This mapping is done using the objects 1600h to 1603h for RxPDOs and 1A00h
to 1A03h for TxPDOs.
RxPDO
RxPDO 1
(Object 1600h)
RxPDO 2
(Object 1601h)
RxPDO 3
(Object 1602h)
RxPDO 4
(Object 1603h)
Table 6.2: Standard mapping for RxPDOs
Mapped
Objects Description
Objects
6040h Control Word
607Ah Target Position
60FFh Target velocity
6071h Target torque
6060h Modes of operation
6040h Control Word
607Ah Target Position
6040h Control Word
60FFh Target velocity
6040h Control Word
6071h Target torque
Network Operation
Size Total
16 bits
32 bits
13 Bytes
32 bits
16 bits
8 bits
16 bits
6 Bytes
32 bits
16 bits
6 Bytes
32 bits
16 bits
4 Bytes
16 bits
SCA06 | 20