EM-RES-03 3310/07
5.11 Process data channels, PDO
5.11.1 Identifier assignment process data channel
The process channel for the exchange of process data under CANopen is the PDO
channel. Up to three PDO channels with differing properties can be used in one device.
The PDO channels are defined via identifiers according to the Predefined Connection
Set to CANopen:
Identifier 1. Rx-PDO = 512 + Node-ID
Identifier 1. Tx-PDO = 384 + Node-ID
Identifier 2. Rx-PDO = 768 + Node-ID
Identifier 2. Tx-PDO = 640 + Node-ID
Identifier 3. Rx-PDO = 1024 + Node-ID
Identifier 3. Tx-PDO = 896 + Node-ID
This corresponds to the factory settings of the frequency inverters for the Rx/Tx-
PDO‘s. This occupancy is aligned to an external master (PLC/PC) serving all the chan-
nels.
If the PDO channels are used for a connection of the frequency inverters amongst one
another, the identifiers are to be set accordingly by parameterization.
Attention: In free assignment of identifiers, there may not be any double occu-
pancy!
The identifier range 129...191 may not be used as the emergency tele-
grams can be found there.
Setting of the identifiers of the Rx/TxPDO’s:
Parameter Setting
No. Description Min. Max. Fact. sett.
924 RxPDO1 Identifier 0 2047 0
925 TxPDO1 Identifier 0 2047 0
926 RxPDO2 Identifier 0 2047 0
927 TxPDO2 Identifier 0 2047 0
928 RxPDO3 Identifier 0 2047 0
929 TxPDO3 Identifier 0 2047 0
The setting "0” results in identifier assignment according to the Predefined Connection
Set.
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