Pdo Assignment; Mailbox - WEG SCA06 User Manual

TxPDO
TxPDO 1
(Object 1A00h)
TxPDO 2
(Object 1A01h)
TxPDO 3
(Object 1A02h)
TxPDO 4
(Object 1A03h)
6.5.2

PDO Assignment

Besides mapping, the PDO must be assingned to a Sync Manager to perform the data transfer during operation.
This is done through the following objects:
1C12h - RxPDO assign: program which RxPDO will be assingned to the Sync Manager 2, for process data
reception. Must be written the number of the RxPDO object mapping (1600h ... 1603h) to relate the Sync
Manager to the PDO.
1C13h - TxPDO assign: program which RxPDO will be assingned to the Sync Manager 3, for process data
transmission. Must be written the number of the TxPDO object mapping (1A00h ... 1A03h) to relate the Sync
Manager to the PDO.
✓
NOTE!
Both mapping and selection of PDOs can only be performed during the pre-operational state, before
beginning the process data exchange.
6.6

MAILBOX

Besides PDOs, responsible for transmitting and receiving cyclic data, EtherCAT communication also enables the data
exchange via mailbox, typically used for acyclic data exchange between master and slave.
Different data sets can be transmitted via mailbox. SCA06 servo drive enables the data exchange using an SDO
server that responds to requests from the EtherCAT master as specified by the EtherCAT protocol.
The following services are available via the mailbox:
Name
SDO Download Normal
SDO Upload Normal
Abort SDO Transfer
Get Object Dictionary List
Get Object Description
Get Entry Description
Table 6.3: Standard mapping for TxPDOs
Mapped
Objects Description
Objects
6041h Status Word
6064h Position actual value in user units
606Ch Velocity actual value
6077h Torque actual value
6061h Modes of operation display
6041h Status Word
6064h Position actual value in user units
6041h Status Word
606Ch Velocity actual value
6041h Status Word
6077h Torque actual value
Table 6.4: Available Services via mailbox
Write value to an object of the dictionary.
Read value from an object of the dictionary.
Aborts execution of the service on failure/invalid data.
Read the list of available objects.
Gets information about an object (index).
Gets information about an object (sub-index).
Size
16 bits
32 bits
32 bits
16 bits
8 bits
16 bits
32 bits
16 bits
32 bits
16 bits
16 bits
Description
Network Operation
Total
13 Bytes
6 Bytes
6 Bytes
4 Bytes
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