Data Transfer Via Pdo And Sdo; Variable Pdo Mapping Via Sdo - YASKAWA SLIO Manual

System SLIO

4.7 Data transfer via PDO and SDO

Overview
PDO
SDO

4.8 Variable PDO mapping via SDO

Overview
Functionality
HB300 | IM | 053-1EC01 | en | 22-30
PDO means Process Data Object. Process data may be transferred during run-time by
means of PDOs. Here the Inputs respectively outputs are directly addressed within the
frame. More concerning the process data transfer during run-time may be found in the
manual of your EtherCAT master.
SDO means Service Data Object. Within a SDO message the parameter data of your
system may be accessed. Here the parameters are addressed by according indexes and
subindexes. An overview of the objects may be found in the object directory.
Some modules a variable process image. If your master system supports variable PDO
mapping, on modules with variable process image the size of the process image may be
preset by a appropriate adjustment of the PDO contents. More information about PDO
mapping may be found in the manual of your master system.
n The ESI file the modules are defined, which have a variable process image When
modules with a variable process image are used, so startup commands are automati-
cally inserted to the startup list of the master.
– These startup commands are SDO write accesses to the areas 0x16yy and
0x1Ayy (PDO mapping), where the structure of the process data of a module is
described.
– The startup commands are executed with each change from Pre-Op to Safe-Op
condition of the appropriate EtherCAT coupler.
n Within your EtherCAT master system / EtherCAT configurator the PDO contents may
be removed or added. Here the startup command are automatically adjusted.
With the adjustment of the PDO contents please always consider the
data structure of the I/O data of the corresponding module. Information
about the data structure of the I/O data of a module may be found in the
additional System SLIO manual.
n So that the new configuration can be taken, the master system is to be initialized
again, respectively when a EtherCAT configurator is used the new configuration can
be loaded into the EtherCAT master.
– With the change from Pre-Op to Safe-Op the new startup commands were trans-
ferred to the EtherCAT coupler and thus the new PDO mapping is adjusted.
n The EtherCAT coupler configures the corresponding module and automatically
adjusts the length of the module parameters in the object directory 0x31yy an.
Deployment
Variable PDO mapping via SDO
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