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ASDA-A3

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CANopen Mode

12.2.2.1 Process data object (PDO)

Real-time data transmission can be achieved with Process data objects (PDOs). There are two

types of PDOs: transmit PDOs (TxPDOs) and receive PDOs (RxPDOs). This definition is from

the perspective of the servo drive, for example, the TxPDO refers to the object that the servo

drive sends to the controller. Set the communication parameters and mapping parameters as

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shown in the following table to use the PDOs.

RxPDOs

TxPDOs

Communi-

cation

object

Communication

object index

Mapping

object index

Communi-

cation

object

Communication

object index

Mapping

object index

RxPDO1

1400h

1600h

TxPDO1

1800h

1A00h

RxPDO2

1401h

1601h

TxPDO2

1801h

1A01h

RxPDO3

1402h

1602h

TxPDO3

1802h

1A02h

RxPDO4

1403h

1603h

TxPDO4

1803h

1A03h

The format of PDO mapping parameter is:

Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit

Bit 0 - Bit 7

Bit 8 - Bit 15

Bit 16 - Bit 31

Function

Object data length

Object sub-index

Object index

Example:

To set the three PDOs, OD 6040h, OD 607Ah, and OD 6060h, in the first group of PDOs, the

setting is as follows:

Mapping parameter

setting for RxPDO

OD 1600h sub0

OD 1600h sub1

OD 1600h sub2

OD 1600h sub3

Note

Data

Description

3

Set 3 PDO mappings.

6040h

00h

10h

-

607Ah

00h

20h

-

6060h

00h

08h

-

The total length is 38h (56-bit) which meets the specification of less than 64-bit.

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