LinMot E1250-PN-UC, Руководство пользователя

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3 Process Data Object (PDO) Configuration
The cyclic process data is configured in the master and transmitted to the slave during startup. The data
Object modules could be configured by trag and trop to the device slots 1..15.
Overview of the supported Process Data Objects Modules
By default the module ”Default IO mapping with Config” is plugged into Slot 1, with this module most
application should be well supported.
3.1 Bidirectional PDO Modules
3.1.1 Default IO mapping with Config
3.1.1.1 Output Data
Index Size
[Byte] Byte
Offset Name Data
Type
Tlg 16 32 - Variables RECORD
1 2 0 ControlWord Word16
2 2 2 Motion Command Header Word16
3,4 4 4 Motion Command parameter 1 Word32
5,6 4 8 Motion Command parameter 2 Word32
7,8 4 12 Motion Command parameter 3 Word32
9,10 4 16 Motion Command parameter 4 Word32
11,12 4 20 Motion Command parameter 5 Word32
13 2 24 Config Header Word16
14 2 26 Config Index Word16
15,16 4 28 Config Value Word32
For the meaning oft he „Control Word“ and the „Motion Command interface“ refer to [1], for the „Real Time
Config Interface“ refer to [2].
3.1.1.2 Input Data
Index Size
[Byte] Byte
Offset Name Data
Type
Tlg 16 26 - Variables RECORD