Process Data Objects

TxPDO: Inputs

Provides the status of the State Machine (FSA).

Provides the actual operation mode.

Provides the actual value of the position measurement device.

The actual velocity value derived either from the velocity sensor or the position sensor.

Provides the actual value of the torque.

Position value of encoder configured to function “Feedback display only”.

Calculated velocity value of encoder configured to function “Feedback display only”.

Analog Input value of SOMANET Drive if available.

Analog Input value of SOMANET Drive if available.

Analog Input value of SOMANET Drive if available.

Analog Input value of SOMANET Drive if available.

For internal purposes only.

Status of Digital IO of SOMANET Drive. Only available if is not used otherwise, e.g. for SPI.

Status of Digital IO of SOMANET Drive. Only available if is not used otherwise, e.g. for SPI.

Status of Digital IO of SOMANET Drive. Only available if is not used otherwise, e.g. for SPI.

Status of Digital IO of SOMANET Drive. Only available if is not used otherwise, e.g. for SPI.

Reserved for SDK users.

Position signal measurement timestamp.

RxPDO: Outputs

Controls the behavior of the drive.

Requests the operating mode of the drive.

Indicates the configured input value for the torque controller in profile torque mode.

Indicates the commanded position that the drive should move to in position profile mode.

Indicates the configured target velocity, used as input for the trajectory generator.

Provides the offset for the torque value.

This object is used in tuning mode to specify the parameter that is configured.

Command value for Digital IO of SOMANET Drive. Only available if not used otherwise, e.g. for SPI.

Command value for Digital IO of SOMANET Drive. Only available if not used otherwise, e.g. for SPI.

Command value for Digital IO of SOMANET Drive. Only available if not used otherwise, e.g. for SPI.

Command value for Digital IO of SOMANET Drive. Only available if not used otherwise, e.g. for SPI.

Reserved for SDK users.