Process Data Objects (Pdo) Configuration - Bosch rexroth EFC 610 Series Operating Instructions Manual

Rexroth Frequency Converter EFC x610
Series

Process Data Objects (PDO) Configuration

The following configuration shall be executed.
PDO1 mapping is static and hence it cannot be changed.
●
The default PDO mapping configuration is shown as below for Rexroth drive
●
profile.
RPDO Mapping
No. object index
1 0x6040
0x6040
2
0x6042
0x3770
3
0x377A
4 0x0000
TPDO Mapping
No. object index
1 0x6041
0x6041
2
0x6044
0x3771
3
0x23EA
4 0x0000
Tab. 12-83: PDO communication parameter structure for CiA-402 profile
Index Sub
0
1
2
0x1400
3
4
5
0
0x1600
1
Tab. 12-84: RPDO1
**: When CiA-402 is enabled, the RPDO1 is enabled, so COB-ID gets
changed to 0x80000200 + Node-ID. RPDO1 is disabled in Rexroth
Profile. If enabled then it's erroneous.
Mapping object name
Control word
Control word
Target velocity (vl)
Drive control word
Frequency command
-
Mapping object name
Status word
Status word
vl control effort
Drive status word
Output frequency
-
Name
Number of entries
COB-ID used by PDO
Transmission type
Inhibit time (not implemented)
Reserved
Event timer
Number of mapped objects
Control word
Functions and Parameters
Comment
Controls the CiA-402 state machine
Controls the state machine and the
nominal speed (vl)
Controls the drive system state machine
and setting frequency
-
Comment
Shows the drive status
Shows status and the current speed (vl)
Shows the drive status and the current
output frequency
-
Default value
5
0x80000200 + Node-ID**
255
0
-
0
1
0x60400010
R912005854_Edition 09 Bosch Rexroth AG
359/653