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Operating Instructions – MOVIAXIS® MX Multi-Axis Servo Inverter
5
PDO Editor
Startup
5.12 PDO Editor
Use the PDO Editor to set the process data.
Structure and
data flow
You can write setpoints, such as velocity or position, as 16-bit process data into the PD-
IN buffer of MOVIAXIS
®
via a bus system, e.g. a fieldbus. You can specify these set-
points in freely definable user-specific units, e.g.
• [m/s],
• [mm],
• [cycles/min]
This process data is further processed as double word depending on how the subse-
quent PD-IN channel is configured. The user-specified units are converted into system
units and transferred to the relevant FCBs, see figure 96. MOVIAXIS
®
offers 16 PD-IN
channels.
Depending on the process data configuration, actual values such as speed and position
can be converted into user-specified units via 16 32-bit wide PD-OUT channels and are
transferred to the connected bus system via 16 process data buffers.
Information on the status of the axis, such as
• "Ready for operation",
• "Motor standstill",
• "Brake released"
can also be written to a process data word of the PD-OUT buffer via a status word. The
information can also be processed by a higher-level controller via the connected bus.
Four configurable status words are available, see figure 96.
57601aen
Figure 96: PDO process data flow
System
management
FCB pool
FCB...
FCB...
FCB...
FCB...
FCB...
PD-IN channel
DW0 (32 Bit)
DW15 (32 Bit)
.
.
Conversion:
User-defined units
into system units
.
.
PD-OUT channel
DW0 (32 Bit)
DW15 (32 Bit)
.
.
Conversion:
System units into
user-defined units
.
.
PD-IN buffer
W0 (16 Bit)
W15 (16 Bit)
.
.
.
.
.
.
Bus
Bus
PD-OUT buffer
DW0 (32 Bit)
DW15 (32 Bit)
.
.
.
.
.
.
MOVIAXIS
PD-IN buffer
W0 (16 Bit)
.
.
.
.
.
.
PD-IN channel
DW0 (32 Bit)
W14 (16 Bit)
W1 (16 Bit)
low
high
low
high
Example
Little Endian (Intel format)
Big Endian (Motorola format)
Control word
W0 (16 Bit)
W1 (16 Bit)
W2 (16 Bit)
W3 (16 Bit)
Status word
W0 (16 Bit)
W1 (16 Bit)
W2 (16 Bit)
W3 (16 Bit)
0
0
I
Summary of Contents for MOVIAXIS MX
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