I/O mapping Used by the Library
For Altivar drives the library is using the following mapping:
|
PDO |
Parameter |
Mapped parameter |
Address |
|---|---|---|---|
|
RPDO2 |
Parameter 1 |
CMD (control word) |
6040:0 hex |
|
Parameter 2 |
LFRD (speed setpoint) [rpm] |
6042:0 hex |
|
|
Parameter 3 |
Reserved |
- |
|
|
Parameter 4 |
Reserved |
- |
|
|
TPDO1 |
Parameter 1 |
OL1R (logic output map) |
2016:D hex |
|
Parameter 2 |
Reserved |
- |
|
|
Parameter 3 |
Reserved |
- |
|
|
Parameter 4 |
Reserved |
- |
|
|
TPDO2 |
Parameter 1 |
ETA (status word) |
6041:0 hex |
|
Parameter 2 |
ETI (extended status word) |
2002:7 hex |
|
|
Parameter 3 |
RFRD (output velocity) [rpm] |
6044:0 hex |
|
|
Parameter 4 |
IL1R (logic input map) |
2016:3 hex |
For LXM32A, LXM32ICAN and LXM32M drives the library is using the following mapping:
|
PDO |
Parameter |
Mapped parameter |
Address |
|---|---|---|---|
|
RPDO1 |
Parameter 1 |
driveModeCtrl |
301B:1F hex |
|
Parameter 2 |
RefA16 |
301B:22 hex |
|
|
Parameter 3 |
RefB32 |
301B:21 hex |
|
|
TPDO1 |
Parameter 1 |
driveStat |
301B:25 hex |
|
Parameter 2 |
mfStat |
301B:26 hex |
|
|
Parameter 3 |
motionStat |
301B:27 hex |
|
|
Parameter 4 |
driveInput |
301B:28 hex |
|
|
TPDO2 |
Parameter 1 |
actualPosition |
301E:0D hex |
|
Parameter 2 |
actualVelocity |
301E:20 hex |
For SD328A drives the library is using the following mapping:
|
PDO |
Parameter |
Mapped parameter |
Address |
|---|---|---|---|
|
RPDO1 |
Parameter 1 |
PLCopenRx1 |
301B:05 hex |
|
Parameter 2 |
PLCopenRx2 |
301B:06 hex |
|
|
TPDO1 |
Parameter 1 |
PLCopenTx1 |
301B:07 hex |
|
Parameter 2 |
PLCopenTx2 |
301B:08 hex |
For Lexium ILA, ILE and ILS integrated drives the library is using the default RPDO4 and the default TPDO4 (see documentation of the drive).
I/O mapping Used for EtherNet/IP
For Altivar drives the library is using the assembly 100/101 with the following mapping:
|
Assembly |
Parameter |
Mapped parameter |
Address |
|---|---|---|---|
|
100 |
Parameter 1 |
CMD (control word) |
8B/01/66 hex |
|
Parameter 2 |
LFRD (speed setpoint) [rpm] |
8C/01/03 hex |
|
|
Parameter 3 |
Reserved |
- |
|
|
Parameter x |
Reserved |
- |
|
|
101 |
Parameter 1 |
ETA (status word) |
71/01/02 hex |
|
Parameter 2 |
RFRD (output velocity) [rpm] |
8C/01/05 hex |
|
|
Parameter 3 |
LCR (motor current) |
71/01/05 hex |
|
|
Parameter x |
Reserved |
- |
|
|
NOTE: For ATV340 the I/O mapping of the drive has to be adjusted with the DTM commissioning software. See EcoStruxure Machine Expert - Device Type Manager (DTM) - User Guide for additional information on the DTM. |
|||
For Lexium drives the library is using the default assembly (see documentation of the drive).
I/O mapping Used for Modbus/TCP
The library is using the default connection (see documentation of the drive).
