At times, it may become necessary to change what data is exchanged cyclically between the drive and the PAC. The P Drive gives the user the option to choose from one of four pre-defined PDO mappings that cover the vast majority of applications. However, the Compax3 and the PSD only provide one mapping. For these drives, and for the P Drive, it is possible to create a custom PDO map that either sends or receives a different set of parameters from the drive.
As an example, consider the PSD. By default, the PAC transmits the Control Word and the Target Position to the PSD every EtherCAT cycle and receives the Status Word, Actual Position and state of the Digital Inputs back from the PSD.
For most positioning applications, this is fine. However, the programmer may (as an example) want to know the following error in addition to the Actual Position. To do this, the parameter 16#60FF:00 would need to be added to the TxPDO list.
This FAQ is specifically meant to cover the following Parker drives:
- C3SxxxVxFxxI31T11Mxx_OpMode08 V2.05
- PSD1S Stand-alone Axis CoE DS402
- PD-xxC - Standard EtherCAT drive(Coe, EoE, FoE)
To add a new entry to the PDO list:
- Open the device for editing and select "Expert Settings".
- Under "Expert Process Data," select the PDO list you want to edit in the upper-right window. There should be one for sending data and one for receiving data. In the window below that, right-click and choose "Insert."
- Select the parameter you wish to add. If none are available from the list, you can add them by manually specifying the number of the parameter and its data type. Parameters available for PDO mapping are given in the three tables below.
This method allows a programmer to bring back more data than would otherwise be possible using the default PDO maps. It also reduces the reliance on SDO transfers, which are a greater drain on network performance if they are used every cycle. Once a parameter has been added to the PDO list, PAM will automatically update the EtherCAT configuration information that the PAC sends over the network on boot. No additional configuration is necessary outside of PAM. Note that every drive has a maximum number of objects that may be mapped to the Rx and Tx PDOs. This data is included in the tables below, along with a list of all PDO mappable parameters for each drive.
Max Parameters per Direction Rx and Tx| Drive | Max Number of PDOs |
|---|---|
| P Series |
10 |
| PSD1S |
4 |
| Compax3 |
16 |
P Series:
| Index | Subindex | Name | R/W | Type | Default |
|---|---|---|---|---|---|
| 16#2008 | 16#00 | 7SEG Display Selection | RW | UINT | 0 |
| 16#2014 | 16#00 | Warning Mask Configuration | RW | UINT | 0 |
| 16#2101 | 16#00 | Position Loop Gain 1 | RW | UINT | 50 |
| 16#2102 | 16#00 | Speed Loop Gain 1 | RW | UINT | 75 |
| 16#2103 | 16#00 | Speed Loop Integral Time Constant 1 | RW | UINT | 50 |
| 16#2104 | 16#00 | Torque Command Filter Time Constant 1 | RW | UINT | 5 |
| 16#2105 | 16#00 | Position Loop Gain 2 | RW | UINT | 30 |
| 16#2106 | 16#00 | Speed Loop Gain 2 | RW | UINT | 50 |
| 16#2107 | 16#00 | Speed Loop Integral Time Constant 2 | RW | UINT | 50 |
| 16#2108 | 16#00 | Torque Command Filter Time Constant 2 | RW | UINT | 5 |
| 16#2109 | 16#00 | Position Command Filter Time Constant | RW | UINT | 0 |
| 16#210A | 16#00 | Position Command Average Filter Time Constant | RW | UINT | 0 |
| 16#210B | 16#00 | Speed Feedback Filter Time Constant | RW | UINT | 5 |
| 16#210C | 16#00 | Velocity Feed-Forward Gain | RW | UINT | 0 |
| 16#210D | 16#00 | Velocity Feed-Forward Filter Time Constant | RW | UINT | 10 |
| 16#201E | 16#00 | Torque Feed-Forward Gain | RW | UINT | 0 |
| 16#210F | 16#00 | Torque Feed-Forward Filter Time Constant | RW | UINT | 10 |
| 16#2110 | 16#00 | Torque Limit Function Select | RW | UINT | 2 |
| 16#2111 | 16#00 | External Positive Torque Limit Value | RW | UINT | 3000 |
| 16#2112 | 16#00 | External Negative Torque Limit Value | RW | UINT | 3000 |
| 16#2113 | 16#00 | Emergency Stop Torque | RW | UINT | 1000 |
| 16#2114 | 16#00 | P/PI Control Conversion Mode | RW | UINT | 0 |
| 16#2115 | 16#00 | P Control Switch Torque | RW | UINT | 500 |
| 16#2116 | 16#00 | P Control Switch Speed | RW | UINT | 100 |
| 16#2117 | 16#00 | P Control Switch Acceleration | RW | UINT | 1000 |
| 16#2118 | 16#00 | P Control Switch Following Error | RW | UINT | 100 |
| 16#2119 | 16#00 | Gain Conversion Mode | RW | UINT | 0 |
| 16#211A | 16#00 | Gain Conversion Time 1 | RW | UINT | 2 |
| 16#211B | 16#00 | Gain Conversion Time 2 | RW | UINT | 2 |
| 16#211C | 16#00 | Gain Conversion Waiting Time 1 | RW | UINT | 0 |
| 16#211D | 16#00 | Gain Conversion Waiting Time 2 | RW | UINT | 0 |
| 16#211E | 16#00 | Dead Band for Position Control | RW | UINT | 0 |
| 16#211F | 16#00 | Drive Control Input 1 | RW | UINT | 0 |
| 16#2120 | 16#00 | Drive Control Input 2 | RW | UINT | 0 |
| 16#230D | 16#00 | Speed Limit Function Select | RW | UINT | 0 |
| 16#230E | 16#00 | Speed Limit Value at Torque Control Mode | RW | UINT | 1000 |
| 16#2401 | 16#00 | INPOS1 Output Range | RW | UINT | 100 |
| 16#2402 | 16#00 | INPOS1 Output Time | RW | UINT | 0 |
| 16#2403 | 16#00 | INPOS2 Output Range | RW | UINT | 100 |
| 16#2404 | 16#00 | ZSPD Output Range | RW | UINT | 10 |
| 16#2405 | 16#00 | TGON Output Range | RW | UINT | 100 |
| 16#2406 | 16#00 | INSPD Output Range | RW | UINT | 100 |
| 16#6040 | 16#00 | Control Word | RW | UINT | 0 |
| 16#6060 | 16#00 | Modes of Operation | RW | SINT | 0 |
| 16#6071 | 16#00 | Target Torque | RW | INT | 0 |
| 16#6072 | 16#00 | Maximum Torque | RW | UINT | 3000 |
| 16#607A | 16#00 | Target Position | RW | DINT | 0 |
| 16#607F | 16#00 | Maximum Profile Velocity | RW | UDINT | 2147483647 |
| 16#6081 | 16#00 | Profile Velocity | RW | UDINT | 200000 |
| 16#6087 | 16#00 | Torque Slope | RW | UDINT | 1000 |
| 16#60B0 | 16#00 | Position Offset | RW | DINT | 0 |
| 16#60B1 | 16#00 | Velocity Offset | RW | DINT | 0 |
| 16#60B2 | 16#00 | Torque Offset | RW | INT | 0 |
| 16#60B8 | 16#00 | Touch Probe Function | RW | UINT | 51 |
| 16#60E0 | 16#00 | Positive Torque Limit Value | RW | UINT | 3000 |
| 16#60E1 | 16#00 | Negative Torque Limit Value | RW | UINT | 3000 |
| 16#60FE | 16#01 | Physical Outputs | RW | UDINT | 0 |
| 16#02 | Bit Mask | RW | UDINT | 0 | |
| 16#60FF | 16#00 | Target Velocity | RW | DINT | 0 |
PSD1S:
| Index | Subindex | Name | R/W | Type | Default |
|---|---|---|---|---|---|
| 16#6007 | 16#00 | Abort Connection Option Code | RW | INT | 0 |
| 16#6040 | 16#00 | Control Word | RW | UINT | |
| 16#6060 | 16#00 | Mode of Operation | RW | SINT | |
| 16#6065 | 16#00 | Following Error Window | RW | UDINT | |
| 16#6066 | 16#00 | Following Error Timeout | RW | UINT | |
| 16#6067 | 16#00 | Position Window | RW | UDINT | |
| 16#6068 | 16#00 | Position Window Time | RW | UINT | |
| 16#606A | 16#00 | Sensor Selection Code | RW | INT | |
| 16#607A | 16#00 | Target Position | RW | DINT | |
| 16#607C | 16#00 | Home Offset | RW | DINT | |
| 16#6080 | 16#00 | Max Motor Speed | RW | UDINT | |
| 16#6081 | 16#00 | Profile Velocity | RW | UDINT | |
| 16#6083 | 16#00 | Profile Acceleration | RW | UDINT | |
| 16#6084 | 16#00 | Profile Deceleration | RW | UDINT | |
| 16#6085 | 16#00 | Quick Stop Deceleration | RW | UDINT | |
| 16#608F | 16#01 | Position Encoder Resolution - Encoder Increments | RW | UDINT | |
| 16#02 | Position Encoder Resolution - Motor Revolutions | RW | UDINT | ||
| 16#6091 | 16#01 | Gear Ratio - Motor Revolutions | RW | UDINT | |
| 16#02 | Gear Ratio - Shaft Revolutions | RW | UDINT | ||
| 16#6092 | 16#01 | Feed Constant - Feed | RW | UDINT | |
| 16#02 | Feed Constant - Shaft Revolutions | RW | UDINT | ||
| 16#6096 | 16#01 | Velocity Factor - Numerator | RW | UDINT | |
| 16#02 | Velocity Factor - Denominator | RW | UDINT | ||
| 16#6097 | 16#01 | Acceleration Factor - Numerator | RW | UDINT | |
| 16#02 | Acceleration Factor - Denominator | RW | UDINT | ||
| 16#6098 | 16#00 | Homing Method | RW | SINT | |
| 16#6099 | 16#01 | Homing Speeds - Speed During Search for Switch | RW | UDINT | |
| 16#02 | Homing Speeds - Speed During Search for Zero | RW | UDINT | ||
| 16#609A | 16#00 | Homing Acceleration | RW | UDINT | |
| 16#60A2 | 16#01 | Jerk Factor - Numerator | RW | UDINT | |
| 16#02 | Jerk Factor - Denominator | RW | UDINT | ||
| 16#60B8 | 16#00 | Touch Probe Function | RW | UINT | 0 |
| 16#60C0 | 16#00 | Interpolation Sub-Mode | RW | INT | |
| 16#60C2 | 16#01 | Interpolation Time Period Value | RW | USINT | |
| 16#02 | Interpolation Time Period Index | RW | SINT | ||
| 16#60C5 | 16#00 | Max Acceleration | RW | UDINT | |
| 16#60C6 | 16#00 | Max Deceleration | RW | UDINT | |
| 16#60F4 | 16#00 | Following Error Actual Value | RW | DINT | |
| 16#60FF | 16#00 | Target Velocity | RW | DINT |
Compax3:
| Index | Subindex | Object Name | R/W | Type | C3 Obj. No. | Notes |
|---|---|---|---|---|---|---|
| 16#2019 | 16#00 | Setpoint For Analog Output 0 | RW | INT | 634.4 | |
| 16#201A | 16#00 | Setpoint For Analog Output 1 | RW | INT | 635.4 | |
| 16#201B | 16#00 | Control Word 2 | RW | WORD | 1100.4 | |
| 16#201C | 16#00 | Status Word 2 | RW | WORD | 1000.4 | |
| 16#201D | 16#01 | Current Error (N) | R | UINT | 550.1 | Duplicate of 16#603F |
| 16#2022 | 16#00 | Status Of Actual Position In Bus Format Y4 | R | DINT | 680.8 | Duplicate of 16#6064 |
| 16#2023 | 16#00 | Status Of The Actual Filtered Speed In The Y2 Format | R | INT | 681.7 | Scaled with C3 object 200.1 |
| 16#2024 | 16#00 | Status Of The Actual Filtered Speed In The Y4 Format | R | DINT | 681.8 | Scaled with C3 object 201.1 |
| 16#2025 | 16#00 | Status Of Analog Input 0 | R | INT | 685.3 | Scaled with C3 object 200.3 |
| 16#2026 | 16#00 | Status Of Analog Input 1 | R | INT | 685.4 | Scaled with C3 object 200.3 |
| 16#2027 | 16#00 | Status Control Deviation Of Speed | R | DINT | 681.6 | Valued multiplied by 1000 |
| 16#2028 | 16#00 | Control Command | RW | INT | 1100.1 | |
| 16#2050 | 16#00 | Interpolation Input Cansync, Powerlink | RW | DINT | 3921.1 | Duplicate of 16#60C1.01 |
| 16#2052 | 16#00 | Position Command Value Of Profile Transmitter1 | R | DINT | 680.1 | Scaled with C3 object 201.9 |
| 16#2053 | 16#00 | Speed Setpoint Value Of Profile Generator 1 | R | DINT | 681.1 | |
| 16#2060 | 16#00 | Position Value Of The Setpoint Encoder | R | DINT | 2000.1 | Valued multiplied by 1000 |
| 16#2063 | 16#00 | Speed Of The Setpoint Encoder | R | DINT | 2000.4 | |
| 16#2080 | 16#01 | Digital PIO Inputs 0...15 | RW | WORD | 150.1 | |
| 16#02 | Digital PIO Inputs 16...31 | RW | WORD | 150.2 | ||
| 16#03 | Digital PIO Inputs 32...47 | RW | WORD | 150.3 | ||
| 16#04 | Digital PIO Inputs 48...63 | RW | WORD | 150.4 | ||
| 16#2081 | 16#01 | Digital PIO Outputs 0...15 | RW | WORD | 151.1 | |
| 16#02 | Digital PIO Outputs 16...31 | RW | WORD | 151.2 | ||
| 16#03 | Digital PIO Outputs 32...47 | RW | WORD | 151.3 | ||
| 16#04 | Digital PIO Outputs 48...63 | RW | WORD | 151.4 | ||
| 16#2082 | 16#01 | PIO Analog Input 0 | RW | INT | 152.1 | |
| 16#02 | PIO Analog Input 1 | RW | INT | 152.2 | ||
| 16#03 | PIO Analog Input 2 | RW | INT | 152.3 | ||
| 16#04 | PIO Analog Input 3 | RW | INT | 152.4 | ||
| 16#2083 | 16#01 | PIO Analog Output 0 | RW | INT | 153.1 | |
| 16#02 | PIO Analog Output 1 | RW | INT | 153.2 | ||
| 16#03 | PIO Analog Output 2 | RW | INT | 153.3 | ||
| 16#04 | PIO Analog Output 3 | RW | INT | 153.4 | ||
| 16#2093 | 16#00 | Factor For The Current Limits | RW | INT | 402.6 | |
| 16#2094 | 16#00 | Motor Current In Per Thousand Of The Actual Current Limit | R | INT | 683.8 | |
| 16#2095 | 16#01 | Position From External Signal Source | R | DINT | 2020.1 | Valued multiplied by 1000 |
| 16#02 | Status Of Encoder Input 0 (5V) | R | DINT | 680.1 | Valued multiplied by 1000 | |
| 16#03 | Encoder Position 0 (5V) In Increments | RW | DINT | 680.32 | ||
| 16#2098 | 16#00 | Velocity Specification GEARING Cansync/EPL/EtherCAT | RW | DINT | 3925.2 | Valued multiplied by 1000 |
| 16#2099 | 16#00 | Acceleration Specification GEARING Cansync/EPL/EtherCAT | RW | DINT | 3925.21 | |
| 16#2104 | 16#00 | Status Actual Position | R | DINT | 680.5 | Valued multiplied by 1000 |
| 16#2105 | 16#00 | Status Of Actual Speed Filtered In 1/Min Or M/S | R | DINT | 681.26 | Valued multiplied by 1000 |
| 16#2300 | 16#00 | Pointer To Table Row | RW | UINT | 1900.1 | |
| 16#2301 | 16#01 | Variable Column 1 Row 1 | RW | DINT | 1901.1 | Scaled with C3 object 201.4 |
| 16#02 | Variable Column 1 Row 2 | RW | DINT | 1901.2 | Scaled with C3 object 201.4 | |
| 16#03 | Variable Column 1 Row 3 | RW | DINT | 1901.3 | Scaled with C3 object 201.4 | |
| 16#04 | Variable Column 1 Row 4 | RW | DINT | 1901.4 | Scaled with C3 object 201.4 | |
| 16#05 | Variable Column 1 Row 5 | RW | DINT | 1901.5 | Scaled with C3 object 201.4 | |
| 16#2302 | 16#01 | Variable Column 2 Row 1 | RW | INT | 1902.1 | Scaled with C3 object 200.5 |
| 16#02 | Variable Column 2 Row 2 | RW | INT | 1902.2 | Scaled with C3 object 200.5 | |
| 16#03 | Variable Column 2 Row 3 | RW | INT | 1902.3 | Scaled with C3 object 200.5 | |
| 16#04 | Variable Column 2 Row 4 | RW | INT | 1902.4 | Scaled with C3 object 200.5 | |
| 16#05 | Variable Column 2 Row 5 | RW | INT | 1902.5 | Scaled with C3 object 200.5 | |
| 16#2303 | 16#01 | Variable Column 3 Row 1 | RW | INT | 1903.1 | |
| 16#02 | Variable Column 3 Row 2 | RW | INT | 1903.2 | ||
| 16#03 | Variable Column 3 Row 3 | RW | INT | 1903.3 | ||
| 16#04 | Variable Column 3 Row 4 | RW | INT | 1903.4 | ||
| 16#05 | Variable Column 3 Row 5 | RW | INT | 1903.5 | ||
| 16#2304 | 16#01 | Variable Column 4 Row 1 | RW | INT | 1904.1 | |
| 16#02 | Variable Column 4 Row 2 | RW | INT | 1904.2 | ||
| 16#03 | Variable Column 4Row 3 | RW | INT | 1904.3 | ||
| 16#04 | Variable Column 4 Row 4 | RW | INT | 1904.4 | ||
| 16#05 | Variable Column 4 Row 5 | RW | INT | 1904.5 | ||
| 16#2305 | 16#01 | Variable Column 5 Row 1 | RW | INT | 1905.1 | |
| 16#02 | Variable Column 5 Row 2 | RW | INT | 1905.2 | ||
| 16#03 | Variable Column 5 Row 3 | RW | INT | 1905.3 | ||
| 16#04 | Variable Column 5 Row 4 | RW | INT | 1905.4 | ||
| 16#05 | Variable Column 5Row 5 | RW | INT | 1905.5 | ||
| 16#2306 | 16#01 | Variable Column 6 Row 1 | RW | DINT | 1906.1 | |
| 16#02 | Variable Column 6 Row 2 | RW | DINT | 1906.2 | ||
| 16#03 | Variable Column 6 Row 3 | RW | DINT | 1906.3 | ||
| 16#04 | Variable Column 6 Row 4 | RW | DINT | 1906.4 | ||
| 16#05 | Variable Column 6 Row 5 | RW | DINT | 1906.5 | ||
| 16#2307 | 16#01 | Variable Column 7 Row 1 | RW | DINT | 1907.1 | |
| 16#02 | Variable Column 7 Row 2 | RW | DINT | 1907.2 | ||
| 16#03 | Variable Column 7 Row 3 | RW | DINT | 1907.3 | ||
| 16#04 | Variable Column 7 Row 4 | RW | DINT | 1907.4 | ||
| 16#05 | Variable Column 7 Row 5 | RW | DINT | 1907.5 | ||
| 16#2308 | 16#01 | Variable Column 8 Row 1 | RW | DINT | 1908.1 | |
| 16#02 | Variable Column 8 Row 2 | RW | DINT | 1908.2 | ||
| 16#03 | Variable Column 8 Row 3 | RW | DINT | 1908.3 | ||
| 16#04 | Variable Column 8 Row 4 | RW | DINT | 1908.4 | ||
| 16#05 | Variable Column 8 Row 5 | RW | DINT | 1908.5 | ||
| 16#2309 | 16#01 | Variable Column 9 Row 1 | RW | DINT | 1909.1 | |
| 16#02 | Variable Column 9 Row 2 | RW | DINT | 1909.2 | ||
| 16#03 | Variable Column 9 Row 3 | RW | DINT | 1909.3 | ||
| 16#04 | Variable Column 9 Row 4 | RW | DINT | 1909.4 | ||
| 16#05 | Variable Column 9 Row 5 | RW | DINT | 1909.5 | ||
| 16#2311 | 16#00 | Indirect Table Access Column 1 | RW | DINT | 1910.1 | Scaled with C3 object 201.4 |
| 16#2312 | 16#00 | Indirect Table Access Column 2 | RW | INT | 1910.2 | Scaled with C3 object 200.5 |
| 16#2313 | 16#00 | Indirect Table Access Column 3 | RW | INT | 1910.3 | |
| 16#2314 | 16#00 | Indirect Table Access Column 4 | RW | INT | 1910.4 | |
| 16#2315 | 16#00 | Indirect Table Access Column 5 | RW | INT | 1910.5 | |
| 16#2316 | 16#00 | Indirect Table Access Column 6 | RW | DINT | 1910.6 | |
| 16#2317 | 16#00 | Indirect Table Access Column 7 | RW | DINT | 1910.7 | |
| 16#2318 | 16#00 | Indirect Table Access Column 8 | RW | DINT | 1910.8 | |
| 16#2319 | 16#00 | Indirect Table Access Column 9 | RW | DINT | 1910.9 | |
| 16#603F | 16#00 | Current Error (N) | R | UINT | 550.1 | Duplicate of 16#201D.01 |
| 16#6040 | 16#00 | STW Control Word | RW | WORD | 1100.3 | |
| 16#6041 | 16#00 | Status Word ZSW | RW | WORD | 1000.3 | |
| 16#6060 | 16#00 | Operating Mode (Nominal Value) | RW | INT | 1100.5 | |
| 16#6061 | 16#00 | Operating Mode Display | RW | INT | 1000.5 | |
| 16#6064 | 16#00 | Status Of Actual Position In Bus Format Y4 | R | DINT | 680.8 | Duplicate of 16#2022 |
| 16#6069 | 16#00 | Status Actual Speed Unfiltered | R | DINT | 681.5 | Valued multiplied by 1000 |
| 16#606B | 16#00 | Status Demand Speed Of Setpoint Generator | R | DINT | 681.4 | Valued multiplied by 1000 |
| 16#606C | 16#00 | Status Actual Speed Filtered | R | DINT | 681.9 | Valued multiplied by 1000 |
| 16#6072 | 16#00 | Torque Limit Or Force Limit | RW | UINT | 402.7 | |
| 16#6077 | 16#00 | Actual Torque Or Force DS402 Opmode 10 | R | INT | 683.13 | |
| 16#6079 | 16#00 | Status DC Bus Voltage C4_3 | R | DINT | 685.5 | Valued multiplied by 1000 |
| 16#6083 | 16#00 | Acceleration For Positioning | RW | UDINT | 1111.3 | |
| 16#6084 | 16#00 | Deceleration For Positioning | RW | UDINT | 1111.4 | |
| 16#60B2 | 16#00 | Offset Demand Torque Or Force DS402 Opmode 10 | RW | INT | 1100.24 | |
| 16#60C1 | 16#01 | Interpolation Input Cansync, Powerlink | RW | DINT | 3921.1 | Duplicate of 16#2050 |
| 16#60F4 | 16#00 | Status Of Tracking Error | R | DINT | 680.6 | Valued multiplied by 1000 |
| 16#60FC | 16#00 | Status Demand Position | R | DINT | 680.4 | Valued multiplied by 1000 |
| 16#6100 | 16#01 | Status Of Digital Inputs | R | WORD | 120.3 | |
| 16#02 | Input Word Of I/O Option | R | WORD | 121.2 | ||
| 16#6300 | 16#01 | Command Value Of The Digital Outputs | RW | WORD | 140.3 | |
| 16#02 | Output Word For I/O Option | RW | WORD | 133.3 |
19SEP2016 DC
20SEP2016 DC: Added PSD1S
