SD710 Series Servo Drive User Manal Chapter 11 Communication
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(1) Transmission method of PDO
PDO uses a mode of producer / customer, where each network node can listen to messages from the transmitting node
and also determines whether a message needs to be processed after it is received. PDO data can be done on a one-to-
one or one-to-many basis. Each PDO message contains a transmitter PDO (TxPDo) and a receiver PDO (RxPDO) with
the transmission mode defined in the PDO communication parameter index. The mode of transmission is shown below.
PDO Producer
TPDO
PDO Consumer 1
RPDO
PDO Consumer 2
RPDO
PDO Consumer 3
RPDO
COB_ID | Data
Figure 11-6 PDO transmission method
(2) PDO objects
The PDO can be divided into Receiver PDO (RPDO) and Transmitter PDO (TPDO). The transmission method and content
of PDO is determined by both of the communication parameters and the mapping parameters. This servo drive is
designed with 4 RPDO and 4 TPDO to implement the data transmission of PDO, and the list of related objects is shown
in Table 11-24.
Table 11-24 List of PDO Objects
Name
COB_ID
Communication object
Mapping object
RPDO
RPDO1
200h + Node_ID
1400h
1600h
RPDO2
300h + Node_ID
1401h
1601h
RPDO3
400h + Node_ID
1402h
1602h
RPDO4
500h + Node_ID
1403h
1603h
TPDO
TPDO1
180h + Node_ID
1800h
1A00h
TPDO2
280h + Node_ID
1801h
1A01h
TPDO3
380h + Node_ID
1802h
1A02h
TPDO4
480h + Node_ID
1803h
1A03h
(3) PDO communication parameters
The COB_ID of the PDO contains control bits and identification data to determine the bus priority of this PDO. The
COB_ID is located on sub-index 01 of the communication parameters (RPDO: 1400h to 1403h; TPDO: 1800h to 1803h)
and the highest bit determines whether this PDO is valid.
MSB LSB
31
30 0
0: Activation
1: Close
1400h to 1403h
+ Node_ID
1800h~1803h
+ Node_ID
For example, for a station with Node_ID 1, the COB_ID of RPDO1 is "80000201h" in the invalid state, and writing
