48 EM-ABS-01 for ACU 03/12
7.7.1 SDO channels (parameter data)
Each frequency inverter possesses two SDO channels for the exchange of parameter
data. In a slave device, these are two server SDOs, in a device defined as a master a
client SDO and a server SDO. Attention must be paid to the fact that only one master
for each SDO channel may exist in a system.
Note: Only one master can initiate by the system bus an exchange 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
conflicts in a larger system in which further devices are on the CAN bus alongside the
frequency inverters.
Atten-
tion:
If a system in which a frequency inverter works as a master is produced,
the identifier allocations for the SDO channel may not be altered.
In this way, an addressing of individual subscribers 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
Segment Protocol Expedited, which minimizes the requirements of the parameter
exchange, the transmittable data are limited to the uint / int / long types. This per-
mits 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.
7.7.2 PDO channels (process data)
Each frequency inverter possesses three PDO channels (Rx/Tx) for the exchange of
process data.
The identifier assignment for the PDO channel (Rx/Tx) is done by default according
to the Predefined Connection Set. This assignment corresponds to an alignment 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 oper-
ation 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 and TxPDO3 Function 934
RxPDO1 Function 936, RxPDO2 Function 937 and RxPDO3 Function 938
Operation mode Function
0 - disabled no exchange of data via the PDO channel
(Rx and/or Tx)
1 - time-controlled Tx-PDOs cyclically transmit according to the time specification
Rx-PDOs are read in with Ta = 1 ms and forward the data
received to the application
2 - SYNC controlled Tx-PDOs transmit the data from the application that are then
current after the arrival of the SYNC telegram.
Rx-PDOs forward the last data received to the application after
the arrival of the SYNC telegram.
To Next Page
Loading...
Need help?
General
