SEW-Eurodrive MFE Series - Process Data Objects (PDO) Configuration

8
Project planning
Configuring the EtherCAT® master for MOVIMOT® with XML file
Manual – EtherCAT
®
Interfaces, Field Distributors
71
3. Select the process data configuration required for your application (see chapter
"Configuration of process data objects (PDO)"(→271)).
4. Link the I/O or periphery data with the input and output data of the application pro-
gram.
After configuration, you can start EtherCAT
®
communication. The "RUN" and "ERR"
LEDs signal the communication status of the MFE72 EtherCAT
®
interface (see
chapter "Meaning of LED display"(→282)).
8.3.3 Configuration of process data objects (PDO)
In the CoE (CAN application protocol over EtherCAT
®
) version, EtherCAT
®
uses the
process data objects (PDO) defined in the CANopen standard for cyclic communica-
tion between master and slave. In line with CANopen, a difference is made between
Rx (receive) and Tx (transmit) process data objects.
Rx process data objects
Rx process data objects (Rx-PDO) are received by the EtherCAT
®
slave. They contain
process output data (control values, setpoints, digital output signals).
Tx process data objects
Tx process data objects (TX-PDO) are returned from the EtherCAT
®
slave to the
EtherCAT
®
master. They contain process input data (actual values, status, digital input
information, etc.).
Two PDOs of different size can be used for cyclic process input and output data for
communication with the MFE72 EtherCAT
®
interface.
• OutputData1 (Standard 4 PO)
Static PDO with 4 cyclic process output data words that are permanently linked to
the standard process data of the MOVIMOT
®
inverter (see chapter "MOVILINK
®
device profile"(→292)) and 1 additional PD for the outputs.
• OutputData1 (Standard 10 PO)
Static PDO with 10 cyclic process output data words that are permanently linked to
the standard process data of the MOVIMOT
®
inverter (see chapter "MOVILINK
®
device profile"(→292)) whereby process output data 4–10 can be used for the
binary outputs.
• InputData1 (standard 4 PI)
Static PDO with 4 cyclic process input data words that are permanently linked to
the standard process data of the MOVIMOT
®
inverter (see chapter "MOVILINK
®
device profile"(→292)) and 1 additional PD for the inputs.
• InputData1 (standard 10 PI)
Static PDO with 10 cyclic process input data words that are permanently linked to
the standard process data of the MOVIMOT
®
inverter (see chapter "MOVILINK
®
device profile"(→292)) whereby process output data 4–10 can be used for the
binary inputs.
25809148/EN – 01/2019