1506/05
8.2 Process data / service data objects
8.2.1 Process data objects (PDO)
8.2.1.1 First Receive PDO
The first receive PDO is defined according to receive PDO No. 1 (DS402).
Receive-PDO No. 1
Index Subindex Meaning Value
1400 0 Number of entries 1
1 COB ID 512 + Node ID
2 Transmission type 255
Mapping Parameter
Index Subindex Meaning Value
1600 0 Number of mapped objects 1
1 Control word 6040 0010 (hex)
The object control word 0x6040 is mapped onto the control word inside the product.
8.2.1.2 Second receive PDO
The second receive PDO is defined according to receive PDO No. 6 (DS402).
Receive-PDO No. 6
Index Subindex Meaning Value
1401 0 Number of entries 1
1 COB ID 768 + Node ID
2 Transmission type 255
Mapping Parameter
Index Subindex Meaning Value
1601 0 Number of mapped objects 1
1 Control word 6040 0010 (hex)
2 Target velocity 6042 0010 (hex)
The object control word 0x6040 is mapped onto the control word inside the product.
The object target velocity is mapped onto the reference line value inside the product.
In this, please ensure that the object target velocity is stated in the unit RPM and is
rescaled to the unit Hz for the reference line value. The number of pole pairs set
(Parameter
No. of Pole Pairs 373, data set 1) is to be taken into account.
In the default setting, the TxPDO1 is transmitted when a change in the contents of
the status word takes place.
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