FL20-C Series
88
6.1.5 Process Data Object (PDO)
PDO data is transmitted in the producer-consumer model. PDO is divided into RPDO
(receive=PDO) and TPDO (transmit-PDO). The slave receives commands from the master
through RPDO and sends its status to the master through TPDO.
Master
RPDO :
Control word, target
position etc.
TPDO :
Slave
Status word, position
feedback etc.
(1)
PDO mapping parameters
PDO mapping is used to build the mapping relationship between object dictionary and PDO.
1600h~17FFh are RPDO, 1A00h~1BFFh are TPDO, there are 6 RPDO and 5 TPDO can be
selected in the servo drive, see table as below:
6 RPDO
1600h
Variable mapping
1701h
～
1705h
Fixed mapping
5 TPDO
1A00h
Variable mapping
1B01h
～
1B04h Fixed mapping
a
）
Fixed PDO mapping
FL20-C provides 5 fixed RPDO and 4 fixed TPDO. Some typical RPDO and TPDO instances
are listed in the table below:
Control Mode
PP CSP
1701h
Mapping objects (3, 8 bytes)
6040h (Control word)
607Ah (Target position)
60B8h (Touch probe function)
60FE (Digital output)
1B01h
Mapping objects (8, 24 bytes)
603Fh (Error code)
6041h (Status word)
6064h (Error feedback)
6077h (Torque actual value)
60F4h (Positional deviation)
）
60B9h (Touch probe status)
60Bah (Touch probe 1 rising edge position feedback)
60FDh (DI status)
