9 Process Data Objects (PDO)
38
YASKAWA ELECTRIC
TOBP C730600 96C YASKAWA AC Drive Option SI-ES3 Installation Manual
u
Receive PDOs (RxPDO)
The Receive PDOs have a default mapping according to the table below. The end user can
re-map Receive PDOs by writing to the map objects 1600 (Hex) - 1628 (Hex).
Refer to
Communication Profile Objects (DS301) on page 33
.
Table 12 Receive PDO Mapping
PDO Number
Mapped Objects (Hex)
Index (Hex)
1
Sub-index 1: 6040:0, 2-bytes (DSP402 control word)
1600
2
Sub-index 1: 6040:0, 2-bytes (DSP402 control word)
Sub-index 2: 6060:0, 1-bytes, (DSP402 Modes of operation)
1601
6
Sub-index 1: 6040:0, 2-bytes (DSP402 control word)
Sub-index 2: 6042:0, 2-bytes, (Vl target velocity)
1605
7
Sub-index 1: 6040:0, 2-bytes (DSP402 control word)
Sub-index 2: 60FE:1, 4-bytes, (Physical digital outputs)
1606
8
Sub-index 1: 6040:0, 2-bytes (DSP402 control word)
Sub-index 2: 6060:0, 1-bytes, (DSP402 Modes of operation)
1607
21
Sub-index 1: 6048:1, 4-bytes (Vl Accel delta speed)
Sub-index 2: 6048:2, 2-bytes, (Vl Accel delta time)
1614
22
Sub-index 1: 6049:1, 4-bytes (Vl Decel delta speed)
Sub-index 2: 6049:2, 2-bytes, (Vl Decel delta time)
1615
23
Sub-index 1: 604A:1, 4-bytes (Vl quick-stop delta speed)
Sub-index 2: 604A:2, 2-bytes, (Vl quick-stop delta time)
1616
24
Sub-index 1: 604C:1, 4-bytes (Vl Dimension factor)
Sub-index 2: 604C:2, 4-bytes, (Vl Dimension factor)
1617
36
Sub-index 1: 2000:1, 2-bytes (Operation command)
1623
37
Sub-index 1: 2010:1, 2-bytes (Speed reference/limit)
1624
38
Sub-index 1: 2020:1, 2-bytes (Torque reference/limit)
1625
39
Sub-index 1: 2030:1, 2-bytes (Torque compensation)
1626
40
Sub-index 1: 2040:1, 4-bytes (MEMOBUS read request)
1627
41
Sub-index 1: 2050:1, 4-bytes (MEMOBUS write request)
1628
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