Fuji Electric FRENIC-Ace series - PDO Protocol; 1 ] about PDO Protocol

9.2 CANopen Communication
9-16
9.2.5 PDO protocol
[ 1 ] About PDO protocol
The PDO (Process Data Object) protocol is used for communicating the process data between the CANopen
master and inverter periodically (example: running command, speed monitoring). As shown in Table 9.2-6 and
Table 9.2-7, CANopen communication of inverter supports three types of receive PDO (RPDO: from master to
inverter) and transmit PDO (TPDO: from inverter to master) each.
Table 9.2-6 Receive PDO (RPDO, from master to inverter)
PDO No. Initial value of COB-ID Description
1 0x200 + node ID Controls the state change of DS-402
2 0x300 + node ID Controls the state change of DS-402 and the speed command
3 0x400 + node ID Writes four types of mapped inverter function codes
Table 9.2-7 Transmit PDO (TPDO, from inverter to master)
PDO No. Initial value of COB-ID Description
1 0x180 + node ID Controls the state change of DS-402
2 0x280 + node ID Controls the state change of DS-402 and the speed command
3 0x380 + node ID Reads four types of mapped inverter function codes
Transfer timing of transmit PDO
The factory default is
“change of state event”. For more information, refer to “9.2.5 [ 5 ]
Communication
parameters of transmit PDO
”, “(3) Transmission type”.
Enable/disable setting of PDO
All PDOs are
valid by factory default. Set the bit 31 in COB-ID of each PDO to one in order
to invalidate
the PDO (nonresponse).
The PDO protocol is available for use only in operational state.
It is recommended to change the PDO protocol when the inverter is in the
Pre-Operational state.