LS ELECTRIC L7NHF Series, Руководство пользователя

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3. EtherCAT Communication
3-5
3.3
Data Type
The following table outlines the data types and ranges used in this manual.
Codes Description Ranges
SINT Signed 8-bit -128 ~127
USINT Unsigned 8-bit 0 ~ 255
INT Signed 16-bit -32768 ~ 32767
UINT Unsigned 16-bit 0 ~ 65535
DINT Signed 32-bit -2147483648 ~ 2147483647
UDINT Unsigned 32-bit 0 ~ 4294967295
FP32 Float 32-bit Single precision floating point
STRING String Value
3.4
PDO-Mapping
The EtherCAT uses the Process Data Object (PDO) to perform real-time data transfers. There are two
types of PDOs: RxPDO receives data transferred from the upper level controller, and TxPDO sends the
data from the drive to the upper level controller.
This drive uses the objects of 0x1600 to 0x1603 and 0x1A00 to 0x1A03 to assign the RxPDO and the
TxPDO, respectively. Up to 10 objects can be assigned to each PDO. You can check the PDO
assignment attribute of each object to see if it can be assigned to the PDO.
The diagram below shows the PDO assignment:
Upper Level Unit
Controlword(0x6040)
Target Position(0x607A)
Statusword(0x6041)
Position Actual Value(0x6064)
Velocity Actual Value(0x606C)
Servo
Drive
Upper Level Unit
Controlword(0x6040)
Target Position(0x607A)
Statusword(0x6041)
Position Actual Value(0x6064)
Velocity Actual Value(0x606C)
Servo
Drive
This is an example when assigning the Controlword and the Target Position with the RxPDO (0x1600).
Index SubIndex Name
Data
Type
0x6040 0x00 Controlword UINT
0x607A 0x00 Target Position DINT