Inovance SV660, Руководство для продвинутых пользователей, Страница: 293 / 426

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8 Communication Configurations
Status SDO RPDO TPDO Description
IP No No No
The master configures the slave addresses, mailbox, and
distributed clock (DC).
The master requests the Pre-Operational state.
Pre-Operational (P) Yes No No Mailbox data communication in the application layer (SDO)
PS Yes No No
The master uses the process data mapping of SDO initialization.
The master configures the SM channel used by the process data
communication.
The master configures the FMMU.
The master requests the Safe-Operational state.
Safe-Operational (S) Yes No Yes SDO, TPDO, and distributed clock mode can be used.
SO Yes No Yes
The master sends valid output data to request the Operational
state.
Operational (O) Yes Yes Yes
Normal operational state
Both the input and output are valid.
Mailbox communication can still be used.
8.3.4 Process Data
The real-time data transmission of EtherCAT is achieved through PDO. The PDO can be divided into RPDO
(Reception PDO) and TPDO (Transmission PDO) based on the data transmission direction. The RPDO
transmits the master data to the slave, and TPDO returns the slave data to the master.
Master
RxPDO ：
control word, target
position
TxPDO ：
status word, position
feedback
Slave
The SV660N servo drive allows users to assign the PDO list and define the PDO mapping object.
1 PDO mapping
The PDO mapping is used to establish the mapping relation between the object dictionary and the PDO.
1600h to 17FFh are RPDOs, and 1A00h to 1BFFh are TPDOs. The SV660N series servo drive provides six
RPDOs and five TPDOs, as listed in the following table.
RPDO
(Six)
1600h Variable mapping
1701h to 1705h Fixed mapping
TPDO
(Five)
1A00h Variable mapping
1B01h to 0x1B04h Fixed mapping
2 Fixed PDO mapping
The SV660N provides five fixed RPDOs and four fixed TPDOs.
The following table lists the typical instances of the RPDOs and TPDOs.