EM-RES-03 10/0718
5.7.1 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 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 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 con-
flicts in a larger system in which further devices are on the CAN bus alongside the
frequency inverters.
Attention: If a system in which an frequency inverter works as a master is pro-
duced, 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 ex-
change, the transmittable data are limited to the uint / int / long 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.
5.7.2 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 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 specifi-
cation
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) generates the
SYNC telegram. The identifier assignment for the SYNC telegram is done by default
according to the Predefined Connection Set. This assignment can be altered by
parameterization.
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