Emotron VS10 - Page 220

220 01-6203-01R3, CG Drives & Automation
Synchronisation of PDOs via sync telegram
During cyclic transmission, one or more PDOs are transmitted/received in fixed time
intervals. An additional specific telegram, the so-called sync telegram, is used for
synchronising cyclic process data.
• The sync telegram is the trigger point for the transmission of process data from the
slaves to the master and for the acceptance of process data from the master in the
slaves.
• For sync-controlled process data processing, the sync telegram must be generated
accordingly.
• The response to a sync telegram is determined by the transmission type selected.
Generating the sync telegram:
• 0x1005 can be used to activate the generation of sync telegrams and to write the
identifier value.
• Sync telegrams are created when bit 30 (see below) is set to "1".
• The interval between sync telegrams is to be set in 0x1006.
Writing identifiers:
• To receive sync telegrams, the value 0x80 must be entered in the 11-bit identifier in the
default setting (and in compliance with the CANopen specification). This means that all
inverters are set to the same sync telegram by default.
• If sync telegrams are only to be received by specific nodes, their identifiers can be
entered with a value of up to and including 0x07FF.
• The identifier can only be changed if the inverter does not send any sync telegrams
(0x1005, Bit 30 = "0").
Data telegram assignment
8th byte (data 4)
7th byte (data 3)
6th byte (data 2)
5th byte (data 1)
Bit 31
Bit 30
Bit 29 ... bit 11
Bit 10 ... bit 0
x
0/1
Extended identifier*
11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
Parameter Name / value range / [default setting] Info
0x1005
COB-ID SYNC
0x00000000 ... [0x00000080] ... 0xFFFFFFFF
Identifier for sync telegram.
How to change the identifier:
Deactivate Sync: Set bit 30 to "0".
Change identifier.
Activate Sync: Set bit 30 to "1".
0x1006
Communication cyclic period
0 ... [0] ... 65535000 us
Cycle time for sync telegrams.
With the setting "0", no sync telegrams are generated.
The set time is internally rounded up to the next multiple of 10 ms.
The shortest possible cycle time thus is 10 ms.
0x1400:000
RPDO1 communication parameter: Highest sub-index
supported
Read only