Yaskawa SI-ES3 for V1000 - Manual (Page 29)

9 Process Data Objects (PDO)
YASKAWA Europe YEU TOEP C710606 98A - V1000 Option EtherCAT - Installation Manual EN 29
9 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
page 26 .
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