Yaskawa 1000 Series Drive Option - CANopen Technical Manual - Manual (Page 28)

28 YASKAWA ELECTRIC SIEP C730600 45B 1000-Series Option SI-S3 Technical Manual
10 Process Data Objects (PDO)
10 Process Data Objects (PDO)
◆
PDOs and Default PDO Setup
The drive supports 15 Receive and 16 Transmit PDOs. The tables below show the available PDOs, their default settings, and the objects that need to
be set when changing the PDO configuration or the PDO mapping:
■ Receive PDOs (RxPDO)
■ Transmit PDO (TxPDO)
PDO number
Receive PDO Parameter Receive PDO Mapping
COB-ID (Hex) Index (Hex) Mapped objects (Hex) Index (Hex)
1 200 + Node ID 1400 Subindex 1: 6040 1600
2 300 + Node ID 1401
Subindex 1: 6040
Subindex 2: 6060
1601
6 Not assigned 1405
Subindex 1: 6040
Subindex 2: 6042
1605
7 Not assigned 1406
Subindex 1: 6040
Subindex 2: 60FE sub1
1606
8 Not assigned 1407
Subindex 1: 6040
Subindex 2: 6060
1607
21 Not assigned 1414
Subindex 1: 6048 sub1
Subindex 2: 6048 sub2
1614
22 Not assigned 1415
Subindex 1: 6049 sub1
Subindex 2: 6049 sub2
1615
23 Not assigned 1416
Subindex 1: 604A sub1
Subindex 2: 604A sub2
1616
24 Not assigned 1417
Subindex 1: 604C sub1
Subindex 2: 604C sub2
1617
36 Not assigned 1423 Subindex 1: 2000 1623
37 Not assigned 1424 Subindex 1: 2010 1624
38 Not assigned 1425 Subindex 1: 2020 1625
39 Not assigned 1426 Subindex 1: 2030 1626
40 Not assigned 1427 Subindex 1: 2040 sub1 1627
41 Not assigned 1428 Subindex 1: 2050 sub1 1628
PDO number
Transmit PDO Parameter Transmit PDO Mapping
COB-ID (Hex) Index (Hex) Mapped objects (Hex) Index (Hex)
1 180 + Node ID 1800 Subindex 1: 6041 1A00
2 280 + Node ID 1801
Subindex 1: 6041
Subindex 2: 6061
1A01
6 Not assigned 1805
Subindex 1: 6041
Subindex 2: 6044
1A05
7 Not assigned 1806
Subindex 1: 6041
Subindex 2: 60FD
1A06
21 Not assigned 1814 Subindex 1: 6042 1A14
22 Not assigned 1815 Subindex 1: 6043 1A15
23 Not assigned 1816
Subindex 1: 6048 sub1
Subindex 2: 6048 sub2
1A16
24 Not assigned 1817
Subindex 1: 6049 sub1
Subindex 2: 6049 sub2
1A17
25 Not assigned 1818
Subindex 1: 604A sub1
Subindex 2: 604A sub2
1A18
26 Not assigned 1819
Subindex 1: 604C sub1
Subindex 2: 604C sub2
1A19
36 Not assigned 1823 Subindex 1: 2100 1A23
37 Not assigned 1824 Subindex 1: 2110 1A24
38 Not assigned 1825 Subindex 1: 2120 1A25
39 Not assigned 1826 Subindex 1: 2130 1A26
40 Not assigned 1827 Subindex 1: 2140 sub1 1A27
41 Not assigned 1828 Subindex 1: 2150 sub1 1A28