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4.7.1 SDO channels (parameter data)

Each frequency inverter possesses two SDO channels for the exchan

e of paramete

data. In a slave device, these are two server SDO's, in a device defined as a master a

client SDO and a server SDO. Attention must be paid to the fact that only one maste

for each SDO channel may exist in a system.

Note: Only one master can initiate by the system bus an exchan

e of data via

its client SDO.

The identifier assignment for the SDO channels (Rx/Tx) is done according to the Pre-

defined Connection Set.

This assignment can be amended by parameterization, in order to solve identifier con-

flicts in a lar

er system in which further devices are on the CAN bus alon

side the

frequency inverters.

Attention! In a system in which a frequency inverter works as a master, the identi-

fier allocations for the SDO channel may not be altered.

In this way, an addressin

of individual nodes via the field bus/system

bus path of the master frequency inverter is possible.

Parameters are read/written via the SDO channels. With the limitation to the SDO

ment Protocol Expedited, which minimizes the handlin

needed for the parameter

exchan

e, the transmittable data are limited to the uint / int / lon

types. This permits

complete parameterization of the frequency inverters via the system bus, as all the

settings and practically all the actual values are displayed via these data types.

4.7.2 PDO channels (process data)

Each frequency inverter possesses three PDO channels (Rx/Tx) for the exchan

e o

process data.

he identifier assi

nment for the PDO channel (Rx/Tx) is done by default accordin

the Predefined Connection Set. This assi

nment corresponds to an ali

nment to a

central master control.

In order to produce the logical channels between the devices (transverse movement)

on the system bus, the amendment of the PDO identifiers for Rx/Tx is necessary.

Each PDO channel can be operated with time or SYNC control. In this way, the opera-

tion behavior can be set for each PDO channel:

The setting of the operation mode is done via the following parameters:

TxPDO1 Function 930, TxPDO2 Function 932 und TxPDO3 Function 934

RxPDO1 Function 936, RxPDO2 Function 937 und RxPDO3 Function 938

Operation mode Function

0 -deactivated no exchange of data via the PDO channel (Rx and/or Tx)

1 -time-controlled Tx-PDO’s cyclically transmit according to the time specifica-

tion

Rx-PDO‘s are read in with Ta = 1 ms and forward the data

received to the application

2 -SYNC controlled Tx-PDO’s transmit the data from the application that are

then current after the arrival of the SYNC telegram.

Rx-PDO’s forward the last data received to the application

after the arrival of the SYNC telegram.

For synchronous PDO’s, the master (PC, PLC or frequency inverter)

enerates the

SYNC tele

ram. The identifier assi

nment for the SYNC tele

ram is done by default

accordin

to the Predefined Connection Set. This assi

nment can be altered by

parameterization.

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