Process Data Objects (Pdo) - ABB FCAN-01 User Manual

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Process Data Objects (PDO)

Process Data Object (PDO) is used for time critical process data
exchange. PDO transmissions can be controlled by an internal
timer, by remote requests or by the received Sync message. For
each PDO the transmission mode of the PDO as well as the
default mappings of the application objects are described in the
Object Dictionary. FCAN-01 supports also configuration of the
PDOs with drive parameters.
FCAN-01 supports maximum of three PDOs in both directions. By
default only Tx PDO1 and Rx PDO1 are enabled (valid) and Tx/Rx
PDO6 and Tx/Rx PDO21 disabled (not valid).
PDO mapping defines which application objects (parameters) are
transmitted within a PDO. PDO mappings of the FCAN-01 can be
changed in the Pre-operational state (variable objects).
Transmission of the enabled (valid) PDOs is possible only in the
Operational state.
Each PDO can support up to 8 bytes of process data. In ACS350
and ACS355, the first mapping entries of Tx/Rx PDO1 and Tx/Rx
PDO6 are fixed and cannot be changed. The length of the PDOs
and other mapping entries of the PDOs is configurable.
The mapping entries of the PDOs can be configured through
CANopen objects or from the drive with fieldbus configuration
parameters. The configuration location is selected from the drive
with parameter 4 CONF LOC of the fieldbus configuration group A
(group 1) (par. 51.04 in ACS350, ACS355, ACSM1 and ACS850).
When mapping through CANopen objects, the PDO length must
be set to zero before the mapping entries can be changed.
Communication