EtherCAT Communication
‑90‑
Master‑Axis 8 Sending PDO (1608h) Corresponding Data PDO (1A08h) of AC Drive Axis 8
Fixed RPDO Variable RPDO
AC drive
command
AC drive target
frequency
Modifying function
parameters of AC
drive in real time
AC drive state AC drive operation
frequency
Reading function
parameters of AC
drive in real time
RPDO1 RPDO2 RPDO3 to RPDO16 TPDO1 TPDO2 TPDO3 to TPDO16
Corresponding Data PDO (1A10h) of AC Drive Power Supply Unit
Bus voltage IGBT temperature Reading function parameters of AC
drive power supply unit in real time
TPDO1 TPDO2 TPDO3 to TPDO16
Data Sent by the Master Station
Table 5–3 RPDO of data sent by the master station
RPDO
Description
RPDO1
AC drive command word (command source F0‑02 set to 2
(communication))
0: Stop according to F6‑10 (Stop mode)
1: Forward run
2: Reverse run
3: Forward jog
4: Reverse jog
5. Coast to stop
6: Decelerate to stop
7: Fault reset
RPDO2
AC drive target frequency (frequency source F0‑03 set to 9
(communication))
Set F8‑64 to choose Hz or RPM as the unit.
When F8‑64 is set to 0, the unit is Hz. The decimal place is
determined by F0‑22. For example, when F0‑22 is set to 2, the
decimal number 1000 means that the frequency reference is 10.00
Hz.
When F8‑64 is set to 1, the unit is RPM. For example, the decimal
number 1000 means that the speed reference is 1000 RPM.
RPDO3 to RPDO16
Modifying function parameters in real time, but not writing to
EEPROM. For the configuration method, see PDO data
configuration.
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