10 Process Data Objects (PDO)
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YEU SIEP C710616 86A - AC Drive A1000 Option Powerlink - Technical Manual
RxPDO Mapped Drive Registers Above 0x0100 Range
Drive registers above 0x0100 cannot be configured as process data exchanged on each interface scan cycle. To be able to RxPDO map those objects
on Powerlink the drive registers above 0x0100 are refreshed every 8 ms, the drive registers below 0x0100 are refreshed every 1 ms. The drive
registers above 0x0100 are using the overlaid MEMOBUS/Modbus channel in interface to write the drive registers required.
ENTER command management for drive registers above 0x0100 control sets:
• New value only written against drive if it changes from the previously written value.
• If a value update is detected the write will be scheduled directly after the RxPDO Powerlink
process data cycle is complete.
• If the written value via MEMOBUS/Modbus failed for some reason, i.e. Parameter cannot be written when the drive is running, a new retry will
be triggered after 8 ms.
• If a RAM ENTER command is required for the written value to be used by the drive, the ENTER command will be written when the last register
that should be updated in an slow IO data scan set update is triggered.
• E.g. mapped drive registers: A: 0x0200, B: 0x0201, C: 0x0203
• All three registers change at the same time:
RAM ENTER command executed with C.
• Only register 0x0200 changes
RAM ENTER command executed with A.
