Setting Procedure For Pdo Mappings; Default Pdo Mappings - YASKAWA SGD7S-xxxDA0 series Product Manual

13.4.1

Setting Procedure for PDO Mappings

1.
Disable the assignments between the Sync Manager and PDOs.
(Set subindex 0 of objects 1C12h to 1C13h to 0.)
2.
Set all of the mapping entries for the PDO mapping objects.
(Set objects 1600h to 1603h and 1A00h to 1A03h.)
3.
Set the number of mapping entries for the PDO mapping objects.
(Set subindex 0 of objects 1600h to 1603h and 1A00h to 1A03h.)
4.
Set the assignments between the Sync Manager and PDOs.
(Set subindex 1 of objects 1C12h to 1C13h.)
5.
Enable the assignments between the Sync Manager and PDOs.
(Set subindex 0 of objects 1C12h to 1C13h to 1.)
13.4.2

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
(1600h)
TxPDO Statusword
(1A00h)
• 2nd PDO Mapping (Cyclic Synchronous Position): Default PDO Assignments
RxPDO
Controlword
(1601h)
TxPDO
Statusword
(1A01h)
• 3rd PDO Mapping (Cyclic Synchronous Velocity)
RxPDO
Controlword
(1602h)
TxPDO
Statusword
(1A02h)
• 4th PDO Mapping (Cyclic Synchronous Torque)
RxPDO
Controlword
(1603h)
TxPDO
Statusword
(1A03h)
Target position
(6040h) (607Ah)
Position actual
(6041h) value (6064h)
Target position
(6040h) (607Ah)
Position actual
(6041h) value (6064h)
Target velocity
(6040h) (60FFh)
Position actual
(6041h) value (6064h)
Target torque
(6040h) (6071h)
Position actual
(6041h) value (6064h)

13.4.1 Setting Procedure for PDO Mappings

Target Target
Max torque
velocity torque
(6072h)
(60FFh) (6071h)
Torque Following Modes of
actual error actual operation
value value display
(6077h) (60F4h) (6061h)
Torque
actual
value
(6077h)
13.4 PDO Mappings
Touch
Mode of
Padding probe
operation
(8 bits) function
(6060h)
(60B8h)
Touch Touch
Padding probe probe
(8 bits) status value
(60B9h) (60BAh)
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