Adapting the PDO image

Up to 8 objects with 32-bit word width each can be added to the image of the process data objects (PDOs) of the inverter. This makes it possible to insert manufacturer-specific process values into the PDO image in addition to the objects required for the respective modes of operation.

Proceed as follows:

  1. In the [I/O] > [Devices] area of the project management, double-click the EtherCAT® slave and select the "Process data" tab.
  2. Select either the Outputs or Inputs PDO image depending on whether output objects or input objects are to be added.
  3. Open the shortcut menu of the process data objects ("PDO Content" field) by right-clicking and add the required object:
    • Select the [Edit] menu command to insert a predefined object from the object dictionary.
    • Select the [Insert] menu command to insert a manufacturer-specific process value by entering the corresponding "Index" and "Subindex". The name of the object can be freely assigned. For example, for the inverter from SEW-EURODRIVE, the following process values with 32-bit word width can be inserted into the PDO image:

Process value

Name

Index

Subindex

DC link voltage

DC link voltage

8364

160

Absolute torque-generating current

OutputCurrent

8364

118

INFORMATION

With a double-axis module, you can access the second axis of the module via an index offset of 0x1000 (4096 dec).