9 process data objects (pdo), 9process data objects (pdo), Pdos and default pdo setup – Yaskawa SI-ES3 for V1000 User Manual
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9 Process Data Objects (PDO)
YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual
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Process Data Objects (PDO)
PDOs (Process Data Object) will be used for I/O exchange. PDOs are mapped to objects
during configuration (PRE-OPERATIONAL state).
TxPDOs are used to transfer data from the option card and RxPDOs are used to transfer data
to the option card.
The module supports at least 8 parameters mapped to RxPDO and 8 parameters mapped to
TxPDO.
PDOs and Default PDO Setup
The drive supports 15 Receive and 16 Transmit PDOs. The tables below show available
PDOs, their default settings and the objects required to set up when changing the PDO
configuration or the PDO mapping.
Transmit PDOs (TxPDO)
The Transmit PDOs have a default mapping according to the table below. They can be re-
mapped by the end user by writing to map objects 0x1A00-0x1A28, please see
PDO number
Transmit PDO Mapping
Mapped objects (Hex)
Index (Hex)
1
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
0x1A00
2
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x6061#0, 2-bytes, (DSP402 Modes of operation display)
0x1A01
6
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x6044#0, 2-bytes, (vl control effort)
0x1A05
7
Sub-index 1: 0x6041#0, 2-bytes (DSP402 status word)
Sub-index 2: 0x60FD#0, 4-bytes, (Digital inputs)
0x1A06
21
Sub-index 1: 0x6042#0, 2-bytes (vl target velocity)
0x1A14
22
Sub-index 1: 0x6043#0, 2-bytes (vl velocity demand)
0x1A15
23
Sub-index 1: 0x6048#1, 4-bytes (vl Accel delta speed)
Sub-index 2: 0x6048#2, 2-bytes, (vl Accel delta time)
0x1A16
24
Sub-index 1: 0x6049#1, 4-bytes (vl Decel delta speed)
Sub-index 2: 0x6049#2, 2-bytes, (vl Decel delta time)
0x1A17
25
Sub-index 1: 0x604A#1, 4-bytes (vl quick-stop delta speed)
Sub-index 2: 0x604A#2, 2-bytes, (vl quick-stop delta time)
0x1A18
26
Sub-index 1: 0x604C#1, 4-bytes (vl Dimension factor)
Sub-index 2: 0x604C#2, 4-bytes, (vl Dimension factor)
0x1A19
36
Sub-index 1: 0x2100#1, 2-bytes (Drive status)
0x1A23
37
Sub-index 1: 0x2110#1, 2-bytes (Output frequency)
0x1A24
38
Sub-index 1: 0x2120#1, 2-bytes (Output current)
0x1A25
39
Sub-index 1: 0x2130#1, 2-bytes (Output torque reference)
0x1A26
40
Sub-index 1: 0x2140#1, 2-bytes (MEMOBUS/Modbus read response)
0x1A27
41
Sub-index 1: 0x2150#1, 2-bytes (MEMOBUS/Modbus write response)
0x1A28