Estun Summa Series - PDO Mapping Objects

Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-39
The relationship between Index and Parameter State by saving is described as below.
Index
Data
Relevant Parameter
607C-00h
Home offset
Pn724
6093-01h
numerator
Pn725
6093-02h
divisor
Pn726
6098-00h
Homing method
Pn720
6099-01h
Speed during search for switch
Pn721
6099-02h
Speed during search for zero
Pn722
609A-00h
Homing acceleration
Pn723
In the case of 1010-03h, the data description is as following.
Bit
Data
Description
0
Cmd
0b: CANopen device does not save parameters autonomously
1b: CANopen device saves parameters autonomously
1
Auto
0b: CANopen device does not save parameters on command
1b: CANopen device saves parameters on command
2 to 31
Reserved
00 0000 0000 0000 0000 0000 0000 0000
NOTE: Commands that save objects to FRAM can only be executed when it is not in Servo ON state.
Save Autonomously means you don't need to write save to the object when the slave saves the object value to
FRAM.
Identity Object (1018h)
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
1018h
0
Number of entries
USINT
RO
NO
4
1
Vendor ID
UDINT
RO
NO
0x0000060A
2
Product code
UDINT
RO
NO
0x0000ED31
3
Revision number
(1)
UDINT
RO
NO
－
4
Serial number
(2)
UDINT
RO
NO
0x00000000
(1): The revision number is stored as follows:
The major version identifies a specific CANopen over EtherCAT (CoE) behavior. If the CoE functionality is
expanded, the major version has to be increased. The minor version number identifies different versions with the
same behavior.
(2): Serial number is not used (always 0).
12.3.2 PDO Mapping Objects
The CANopen over EtherCAT (CoE) protocol allows the user to map objects to process data objects
(PDOs) in order to use the PDOs for real-time data transfer.
Objects can be combined in PDO data via PDO Mapping and PDO Assignment.