Inovance SV660, Руководство для продвинутых пользователей

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8 Communication Configurations
The index and sub-index define the position of an object in the object dictionary. The object length
indicates the bit length of the object in hexadecimal, as shown below:
Object Length Bit Length
08h 8-bit
10h 16 bit
20h 32-bit
For example, the mapping parameter of the 16-bit control word 6040h-00 is 60400010h.
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Observe the following procedures for PDO mapping:
1) Invalid PDO: Write 0 to sub-index 00h of 1C12h (or 1C13h).
Clear the original mapping content: All the original mapping content of the PDO is cleared when 0 is
written to the sub-index 00h of the mapping object.
Write the PDO mapping content: Write the content in sub-indexes 1 to 10 according to the preceding
mapping definition.
Write the total number of PDO mapping objects: Write the number of mapping objects written to sub-
indexes 0–10 to the sub-index 0 of the mapping object.
2) Valid PDO: Write 1 to sub-index 00h of 1C12h (or 1C13h).
Configure the PDO only when the EtherCAT state machine is in Pre-Operation state ("2" displayed on the
keypad). Otherwise, an error is reported.
Do not save PDO configuration parameters to EEPROM. Configure the mapping objects again every time
upon power-on. Otherwise, the mapping objects are the default parameters.
An SDO fault code is returned during the following operations:
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Modify PDO parameters in non Pre-Operational state.
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Write a value outside 1600/1701–1705 to 1C12h, and write a value outside 1A00/1B01–1B04 to 1C13h.
8.3.5 Service Data Object (SDO)
EtherCAT SDO is used to transfer non-cyclic data, such as communication parameter configuration and
servo drive running parameter configuration. The CoE service types include:
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Emergency message
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SDO request
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SDO response
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TxPDO
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RxPDO
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Remote TxPDO transmission request
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Remote RxPDO transmission request
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SDO message
The SV660N supports SDO request and SDO response.