REXROTH IndraDrive Fc FCS01, Operating Instructions Manual

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Rexroth IndraDrive FCS01.1 Control Communication - Field Busses and Protocols
15-31
DOK-INDRV*--FCS01*****-IB01_EN-P
The location where which data is stored within these 8 bytes is defined via
mapping, e.g.
Data bytes PDO
1 2 3 4
Control word (16 Bit) Setpoint1 (16 Bit)
Fig. 15-40: Data bytes PDO
Control word, status word, setpoint values and actual values can be set
via the following object numbers:
Index Sub-index Control objects
3000 Control word (CTW)
3002 1 Setpoint 1 (SP1) 16 bit
2 Setpoint 2 (SP2) 16 bit
3 Setpoint 3 (SP3) 16 bit
4 Setpoint 1 (SP1) 32 bit
Fig. 15-41: Object numbers
Index Sub-index Status objects
3001 Status word (STW)
3003 1 Actual value 1 (AV1) 16
bit
2
Actual value 2 (AV2) 16
bit
3 Actual value 3 (AV3) 16
bit
4
Actual value 1 (AV4) 32
bit
Fig. 15-42: Object numbers
Here, the specification is made by means of an entry in the object
directory (objects 1600-1603 or 1A00-1A03). Here, it is defined which
object of the device is transmitted to which location of the PDOs. For the
FCS01, the following mappings are set:
PDO Length Identifier 1.word 2.word 3.word 4.word
PDO1 (Tx) 4 bytes 180h + NODE-ID STW AV1
PDO1 (Rx) 4 bytes 200h + NODE-ID CTW SW1
PDO2 (Tx) 8 bytes 280h + NODE-ID STW IW1 IW3 IW2
PDO2 (Rx) 8 bytes 300h + NODE-ID CTW SW1 SW3 SW2
PDO3 (Tx) 8 bytes 380h + NODE-ID STW IW1 (32 Bit) IW2
PDO3 (Rx) 8 bytes 400h + NODE-ID CTW SW1 (32 Bit) SW2
PDO4 (Tx) 2 bytes 480h + NODE-ID STW
PDO4 (Rx) 2 bytes 500h + NODE-ID CTW
Fig. 15-43: PDO mapping
The FCS01 devices of the IndraDrive Fc product family support dynamic
mapping and dummy mapping!
The data content of the PDO telegrams is described in the following.
When the drive profile is activated (P551=On), the objects 6040-6044 are
relevant instead of the objects 3000-3003 (see drive profile DS-402).