YASKAWA Powerlink A1000 Series Installation Manual page 25

 Receive PDOs (RxPDO)
The Receive PDOs have a default mapping according to the table below. The end user can
re-map Receive PDOs by writing to the map objects 0x1600-1628, refer to
Profile Objects (DSP 301) on page
PDO number
1 Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
2
Sub-index 2: 0x6060#0, 1-bytes, (DSP402 Modes of operation)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
6
Sub-index 2: 0x6042#0, 2-bytes, (vl target velocity)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
7
Sub-index 2: 0x60FE#1, 4-bytes, (Physical digital outputs)
Sub-index 1: 0x6040#0, 2-bytes (DSP402 control word)
8
Sub-index 2: 0x6060#0, 1-bytes, (DSP402 Modes of operation)
Sub-index 1: 0x6048#1, 4-bytes (vl Accel delta speed)
21
Sub-index 2: 0x6048#2, 2-bytes, (vl Accel delta time)
Sub-index 1: 0x6049#1, 4-bytes (vl Decel delta speed)
22
Sub-index 2: 0x6049#2, 2-bytes, (vl Decel delta time)
Sub-index 1: 0x604A#1, 4-bytes (vl quick-stop delta speed)
23
Sub-index 2: 0x604A#2, 2-bytes, (vl quick-stop delta time)
Sub-index 1: 0x604C#1, 4-bytes (vl Dimension factor)
24
Sub-index 2: 0x604C#2, 4-bytes, (vl Dimension factor)
36 Sub-index 1: 0x2000#1, 2-bytes (Operation command)
37 Sub-index 1: 0x2010#1, 2-bytes (Speed reference/limit)
38 Sub-index 1: 0x2020#1, 2-bytes (Torque reference/limit)
39 Sub-index 1: 0x2030#1, 2-bytes (Torque compensation)
40 Sub-index 1: 0x2040#1, 4-bytes (MEMOBUS/Modbus read request)
41 Sub-index 1: 0x2050#1, 4-bytes (MEMOBUS/Modbus write request)
YASKAWA Europe YEU TOEP C710616 87A - A1000 Option Powerlink - Installation Manual
8 Process Data Objects (PDO)
21.
Receive PDO Mapping
Mapped objects (Hex)
Communication
Index (Hex)
0x1600
0x1601
0x1605
0x1606
0x1607
0x1614
0x1615
0x1616
0x1617
0x1623
0x1624
0x1625
0x1626
0x1627
0x1628
EN 25