YASKAWA Sigma-7 SGD7S Series

15.4 Communication Objects
The number n of array elements corresponds to the number of DO IO Data in the set
point telegram.
PNU
(dec)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
915 DO IO Data Configuring
(Setpoint Telegram)
Array UINT[16] RW No UINT
(default: 0)
Yes
The number n of the array elements corresponds to the number of DO IO Data in the
actual value telegram.
PNU
(dec)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
916 DO IO Data Configuring
(Actual Value Telegram)
Array UINT[16] RW No UINT
(default: 0)
Yes
Sets the send and receive telegram.
PNU
(dec)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
922 Telegram Selection UINT RW No 0 to 999
(default: 1)
Yes
The IO Data telegram can be determined by selecting pre-defined standard or manufac-
turer specific telegram number from the following table.
Data Description
Value Comments
0 Telegram may be freely configured (P915[x], P916[x])
1 Standard telegram 1: Speed mode
2 Standard telegram 2: Speed mode
7 Standard telegram 7: positioning interface (program submode)
9 Standard telegram 9: positioning interface (program plus MDI submode)
100 YASKAWA telegram 100
999 Free configurable telegram 999
If PNU 922 is changed to 0, the previous setting of P915[x], P916[x] is kept and the sig-
nals configuration is allowed by setting P915[x], P916[x] with the desired signals. Note
that the previous setting of P915[x], P916[x] is "0" by default. Activating the telegram and
validity check is done by setting PNU 922 = 999.
DO IO Data Configuring
(Setpoint Telegram)
DO IO Data Configuring
(Actual Value Telegram)
Telegram Selection
Sigma-7 Series SERVOPACKs
Object Dictionary
Communication Objects
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