3 Communication with the controller
3.2 Process data (cyclic PDO transfer) and PDO mapping
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Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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3.2 Process data (cyclic PDO transfer) and PDO mapping
Cyclic process data are transferred cyclically between the controller (master) and the servo inverters
(slaves) as so-called Process Data Objects (PDOs).
• The i700 servo inverter supports the following bus cycle times of the EtherCAT:
0.125 ms*
0.250 ms
0.500 ms
1.000 ms
... (only integer multiple of 1 ms)
10.000 ms (max. cycle time)
* Note: With a bus cycle time of 0.125 ms, the process data is updated only every 0.250 ms, as
this is the fastest control cycle for the setpoint and actual value transfer.
• The processing time of a process date through the drive is t=max[bus cycle, 0.250 ms]. If the
entire chain from the control via the drive back to the control is considered, a process data needs
2 bus cycles in addition (for Lenze C3200) . Thus, the turnaround time for a PDO can be indicated
with 3 bus cycles.
• For the process data communication, the i700 servo inverter supports the mapping of max. 32
process data objects (PDOs) with a total max. size of 100 bytes per direction of transmission.
• A fixed PDO mapping preconfigured by Lenze is available for every CiA402 operating mode
supported by the i700 servo inverter. Every PDO mapping includes of several objects from the
Object directory
.
• For every axis, further fixed, preconfigured PDO mappings can be used for touch probe
functionality.
• In addition to the fixed, preconfigured PDO mappings, freely configurable PDO mappings are
available for every axis which can be used for individual PDO mapping. A maximum of 8 objects
from the Object directory
can be configured per direction of transmission.
• The configuration of the PDOs actually transmitted between the controller and the i700 servo
inverter is carried out via the »PLC Designer«.
• Experience shows that most i700 servo inverters are operated in one of the available CiA402
operating modes (csp, csv, cst or vl). We therefore recommend to use and activate the fixed
PDO mapping preconfigured by Lenze for the selected operating mode. In doing so all
parameters that usually need to be replaced during a cyclic PDO transfer can be accessed.
• If you wish to use touch probe functionality in addition, optionally and additionally activate
the fixed, preconfigured PDO mapping for touch probe functionality.
• Moreover, the PDO mappings that can be freely configured by the user can be optionally
activated. However, we recommend to use these freely configurable PDO mappings in special
cases only, if no standard PDO mapping is suitable for the case of application at hand. Special
thought should be given to the aspect of traceability in case of service.
"EtherCAT control technology" communication manual
Here you will find some detailed information on the configuration of the process data
objects (PDO mapping) with the »PLC Designer«.
Object Info
Axis A Axis B
RPDO mapping – configuration of the process data (setpoints) from the controller to the i700 servo inverter
0x1600 0x1610 Fixed, preconfigured PDO mapping object for "Cyclic sync position mode (csp)
"
0x1601 0x1611 Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode (cst)
"
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