4 Commissioning
4.10 Operation
DX-NET-ETHERCAT-2
01/14 MN040009EN
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4.10.2 PDO-based cyclic communications
Each module has both a transmit PDO (TPDO) and a receive PDO (RPDO)
available. RPDOs are sent from master to slave (e.g.: control word, setpoint
value). TPDOS, meanwhile, transport process input data (e.g., variable
frequency drive status information) from slave to master.
TPDOs and RPDOs have up to 254 SDOs available for mapping.
Setpoint value
The permissible values fall within a range of P1-02 (minimum frequency) to
P1-01 (maximum frequency). This value will be scaled with a factor of 0.1 in
the application.
Process data input 3 (PDI 3)
Configured with parameter P5-14.
The following settings can also be modified during operation:
Process data input 4 (PDI 4)
Configured with parameter P5-13.
The following settings can also be modified during operation:
Status word
The status word (consisting of any error messages and the device status)
provides information regarding the device status and any error messages.
Value
Description
DS
Field bus module PDI-3
input
0 = Torque limit/reference
1 = User PID reference register
2 = User register 3
0
Value
Description
DS
Field bus module PDI-4
input
0 = Ramp control field bus
1 = User register 4
0
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
MSB
LSB
Error Messages
Device status
