MAC00-FCx PDO communication with Beckhoff FC51xx.

When the MAC00-FCx module is used there are some limitations when used together with the Beckhoff FC51xx PLC.

The limitation is that Beckhoff requires that the PDO's should be placed in PDO 1-4.

In the User manual the PDO's are described.

Normally JVL uses Rx-PDO 21-24 and Tx-PDO 21-25 and they are fixed.

The EDS-file also defines Rx-PDO 1-4 and Tx-PDO 1-4.

These are used together with DSP-402, but only a few registers are available.

TxPDO-1 Statusword                   ( 0x6041 )

TxPDO-2 Statusword                   ( 0x6041 )

              Mode_of_operation       ( 0x6061 )

TxPDO-3 Statusword                   ( 0x6041 )

              Position_actual_Value    ( 0x6064 )

TxPDO-4 Statusword                   ( 0x6041 )

              Velocity_Actual_Value   ( 0x606C )

RxPDO-1 Controlword                 ( 0x6040 )

RxPDO-2 Controlword                 ( 0x6040 )

              Mode_of_operation       ( 0x6061 )

RxPDO-3 Controlword                 ( 0x6040 )

              Target_Position            ( 0x6064 )

RxPDO-4 Controlword                 ( 0x6040 )

              Target_Velocity            ( 0x606C )

If you have a MAC motor together with the MAC00-FCx and need some PDO's like PDO 21-24(25), then contact JVL and we will look at the possibilities for implementing the PDO communication.