User Manual

Communication over CANopen
6.3 PDO services
Fieldbuses
180 Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
COB ID
Overview: Communication over CANopen (Page 169).
Calculating the COB IDs: Predefined connection set (Page 182)
Transmission type
For process data objects, the following transmission types are available, which you set in
index 1 of the communication parameter (p8700[1] … p8707[1] / p8720[1] … p8727[1]) in the
inverter:
● Synchronous cyclic (value range: 1 … 240)
– TPDO after each n-th SYNC
– RPDO after each n-th SYNC
● Acyclic synchronous (value: 0)
– TPDO when a SYNC is received and a process data has changed in the telegram.
● Cyclic asynchronous (values: 254, 255 + event time)
– TPDO when a process data has changed in the telegram.
● Acyclic asynchronous (values: 254, 255)
– TPDO sent in the Event Time interval.
– The controller accepts the RPDO immediately.
● Synchronous data transmission
A periodic synchronization object (SYNC object) ensures that the devices on the
CANopen bus remain synchronized during transmission.
Each PDO transferred as synchronization object must include a "transmission type" 1 ...
n:
– Transmission type 1: PDO in each SYNC cycle
– Transmission type n: PDO in every n-th SYNC cycle
The following diagram shows the principle of synchronous and asynchronous
transmission: