Process data (PDO)
Application Manual POWERLINK Controlled Node
Document no. 5.13013.04 Baumüller Nürnberg GmbH
40
of 80
5.5
Actual values The permitted cyclic actual values are marked in a table in column „PDO mapping“ as
„TX“, see table ZB.2 60
00 object numbers (device profile DSP 402)– from page 48. The
manufacturer-specific parameters (four thousands objects) must be checked up in the pa-
rameter manual b
maXX 4000 (5.03039), chapter 7.1.4 attributes.
Incorrect mapping configurations (invalid objects in 1600
hex
, 1A00
hex
) are signalled with
abort codes via SDO.
The cyclic set-/actual values are continuously initialized into the BACI, i.
e. the first set-
point of RPDO is on first position
in the BACI, the second setpoint on second position
a.s.o. Analog for the actual value initialization the first actual value of TPDO is on first po-
sition in the BACI, the second actual valu
e of TPDO on second position a.s.o.
NOTE!
In case the controller status word (0x6041) is requested for the cyclic communication,
it must be entered in the TPDO in the first position!
In case the status word is not requested, it is e
ntered in the BACI nevertheless, but
in this case it is not considered regarding the field bus transmission. Here the status
word is necessary for internal requests and then only 7 further actual values can be
used.
Writing of similar field bus objects (FBO) via se
rvice data SD and process data PD.
Normally, PD write accesses overwrite SD write acce
sses cyclically on the same FBO. In
single cases a write access via SD may have been successful, but this is not certain.
NOTE!
In this context you please avoid access to the same field bus object via SD and via
PD.
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