Communication
52
• Process Data Object (PDO)
•The PDO object is used for cyclic I/O communication, i.e.
process data.
• Service Data Object (SDO)
•The SDO object is used for acyclic data transmission.
• Emergency Object (EMCY)
•The EMCY object is used for error reporting when a fault has
occurred in the drive or module.
The object dictionary is described in chapter
CoE object dictionary
on page
59
.
Process Data Objects (PDO)
Process Data Objects (PDOs) are used for exchanging time-
critical process data between the master and the slave. Tx PDOs
are used to transfer data from the slave to the master and Rx
PDOs to transfer data from the master to the slave.
PDO mapping defines which application objects are transmitted
inside a PDO. These typically include the Control and Status
Words, References and Actual Values, but most CoE dictionary
objects and drive parameters can be mapped for cyclical
communication.
RECA-01 has three receive PDOs and three transmit PDOs. Each
PDO can have 0…8 application objects mapped inside it. The
default mappings for the PDOs are described in tables
Default
receive PDO mapping
and
Default transmit PDO mapping
on
page
53
. Changing the mapping of the PDOs is only possible in
the pre-operational state.
Summary of Contents for RECA-01
Page 1: ...ABB Drives User s Manual EtherCAT Adapter Module RECA 01 ...
Page 4: ......
Page 6: ...Safety instructions 6 ...
Page 24: ...Quick start up guide 24 ...
Page 26: ...Mechanical installation 26 ...
Page 28: ...Electrical installation 28 ...
Page 32: ...Master configuration 32 ...
Page 56: ...Communication 56 ...
Page 72: ...CoE object dictionary 72 ...
Page 80: ...CoE Error codes 80 ...