Emerson PACMotion VFD Series User Manual page 81

Default PDO Mapping
Table 47: PDO Default Mapping
Type Objects No . Mapped Object
RX 1
PDO 1 2
3
4
TX 1
PDO1 2
3
4
SDO (RX) 1
2
Error
Control
3
4
TX 1
2
PDO2
3
4
Drive control can only be achieved when P1-12=6
Supported PDO Transmission Types
Various transmission modes can be selected for each PDO.
For RX PDO, the following modes are supported:
Table 48: RX PDO Transmission Mode
Transmission Type
0 – 240
254, 255
For TX PDO, the following modes are supported:
Table 49: TX PDO Transmission Mode
Transmission Type
0
1 - 240
254
255
GFK-3111A
Length
2000h Unsigned 16
2001h Integer 16
2002h Integer 16
2003h Unsigned 16
200Ah Unsigned 16
200Bh Integer 16
200Dh Unsigned 16
200Eh Integer 16
0006h Unsigned 16
0006h Unsigned 16
0006h Unsigned 16
0006h Unsigned 16
200Fh Unsigned 16
2010h Integer 16
2011h Unsigned 16
200Ch Integer 16
Mode
Synchronous
Asynchronous
Mode
Acyclic synchronous
Cyclic synchronous
Asynchronous
Asynchronous
PACMotion VFD AC Variable Speed Drive User Guide
Mapped Function
Control command register
Speed reference
Torque reference
User ramp reference
Drive status register
Motor speed Hz
Motor current
Motor torque
Dummy
Dummy
Dummy
Dummy
Motor power
Drive temperature
DC bus value
Motor speed (Internal data
format)
Description
The received data will be transferred to the drive active control
register when the next sync message is received.
The received data will be transferred to the drive active control
register immediately without delay.
Description
TX PDO will only be sent out if the PDO data has changed and
PDO will be transmitted on reception of SYNC object.
TX PDO will be transmitted synchronously and cyclically. The
transmission type indicates the number of SYNC object that are
necessary to trigger TX PDO.
TX PDO will only be transferred once corresponding RX PDO has
been received.
TX PDO will be transferred at anytime following a PDO data
value change.
Transmission
254
Valid immediately
254
Send after
receiving RX
PDO1
254
254
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