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What parameters can be used in a PDO map for Parker drives?

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:

  1. Open the device for editing and select "Expert Settings".


  2. 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."



  3. 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