8 | Commissioning STOBER
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02/2020 | ID 442516.07
8.1.3 Configuring PDO transmission
PDO channels are able to transmit control and status information in real time as well as actual and set values from an
EtherCAT master to EtherCAT slaves and vice versa.
PDO communication allows for 4 PDO channels to be operated simultaneously per transmission and sending direction. A
maximum of 6 parameters can be transmitted in a defined sequence per channel. The process data can be configured in
any way.
In order to guarantee error-free communication between the controller and drive controller, STOBER offers application-
dependent pre-assignment of the channels which can be changed at any time.
8.1.3.1 Adapting RxPDO
ü
You have configured the global EtherCAT settings.
1. Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu >
Wizard area.
2. Select the EtherCAT wizard > Received process data RxPDO.
3. Check the default settings and/or configure the process data according to your requirements.
A225[0] – A225[5], A226[0] – A226[5], A227[0] – A227[5], A228[0] – A228[5]:
Parameters whose values are received by the drive controller from the controller. The position of the parameters
provides information about the associated receiving sequence.
8.1.3.2 Adapting TxPDO
ü
You have configured the global EtherCAT settings.
1. Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu >
Wizard area.
2. Select the EtherCAT wizard > Transmitted process data TxPDO.
3. Check the default settings and/or configure the process data according to your requirements.
A233[0] – A233[5], A234[0] – A234[5], A235[0] – A235[5], A236[0] – A236[5]
Parameters whose values the respective drive controller sends to the controller. The position of the parameters
provides information about the associated transmission sequence.
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