Inovance EtherCAT MD800 - Page 18

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INOVANCE TECHNOLOGY EUROPE GmbH
MD800 EtherCAT Starting Guide_EN_v1.1_20211109.docx
AXIS 7
PDO area received from Master (1607h)
PDO area transmitted by AXIS 7 (1A07h)
Fixed RPDO
Variable RPDO
Command
Target
Frequency
Function
parameters
Status
Operating
Frequency
Function
parameters
RPDO1
RPDO2
RPDO3 ~ RPDO16
TPDO1
TPDO2
TPDO3 ~ TPDO16
AXIS 8
PDO area received from Master (1608h)
PDO area transmitted by AXIS 8 (1A08h)
Fixed RPDO
Variable RPDO
Command
Target
Frequency
Function
parameters
Status
Operating
Frequency
Function
parameters
RPDO1
RPDO2
RPDO3 ~ RPDO16
TPDO1
TPDO2
TPDO3 ~ TPDO16
By default, when inserting the XML file that describes the MD800 drive, the following PDOs are added in the
EtherCAT master configuration: RPDO1, RPDO2, TPDO1, TPDO2.
6.3.2.1 RPDO – DESCRIPTION OF DATA RECEIVED FROM MASTER
Each of the devices of the MD800 receives information from the EtherCAT master in its own RPDO area. This
area is described below:
RPDO
EtherCAT
address
Inverter
Parameter
Data
Type
Description
RPDO1
Index:
0x2073
SubIndex:
0x12
U3-17
UINT
Inverter command word (command source needs to be set
to communication F0-02=2)
0: Stop according to the stop mode F6-10
1: Forward running
2: Reverse operation
3: Forward jog
4: Reverse jog
5: Free stop
6: Decelerate to stop
7: Fault reset
RPDO2
Index:
0x2073
SubIndex:
0x11
U3-16
UINT
Inverter target frequency (the frequency source needs to be
set to communication, ie F0-03=9)
The function code F8-64 can be used to set whether the
writing unit is Hz or rpm. If F8-64 is set to 0, the unit is Hz.
The decimal point is the same as F0-22, such as: write ten
The hexadecimal number is 1000, F0-22=2, that is, the
frequency setting is 10.00Hz.
If F8-64 is set to 1, the writing unit is rpm. Such as: write the
decimal number 1000, that is, the speed is given It is
1000rpm.