9.2 CANopen Communication
9-20
[ 4 ] Communication parameters of receive PDO
(1) Communication parameters
Set the property of each receive PDO (RPDO). The Table 9.2-9 lists appropriate objects.
Table 9.2-9 Communication Parameters of Receive PDO and Default Values
Index Sub Name Description
0x1400 RPDO No.1
0x1401 RPDO No.2
0x1402 RPDO No.3
1 COB-ID Set CAN ID of each PDO and validity
Default value:
RPDO No.1: 0x200 + node ID
RPDO No.2: 0x300 + node ID
RPDO No.3: 0x400 + node ID
2 Transmission type Set the timing to reflect the received data in the
operation (Table 9.2-10)
Default value: 255 (reflect it in the inverter immediately)
The value changed of the objects listed in the Table 9.2-9 is held even if inverter is turned OFF.
(2) COB-ID
Specify 11 bit CAN ID value for each PDO. The default value changes according to the node ID.
(Example: If the node ID of inverter is one, RPDO No.2 COB-ID = 0x301). If the most significant bit (31th bit) is
set to one, the RPDO will be invalid.
It is possible to change COB
-ID only when the PDO is invalid.
CAN ID is 11 bit. The bits
11 to 30 are fixed at zero. (Only the standard frame is supported.)
(3) Transmission type
In the receive PDO, set the timing to reflect the received PDO in the inverter. The Table 9.2-10 lists the setting.
Table 9.2-10 Transmission Type Setting of Receive PDO
Transmission type Name Action
0 Acyclic Synchronous Reflects the received PDO in the inverter after receiving a
Sync signal
1-240 Cyclic Synchronous Same as above
241-251 Reserved ---
252 Synchronous RTR only No operation *
253 Asynchronous RTR only No operation *
254 Asynchronous1 Reflects the received PDO immediately in the inverter
255 Asynchronous2 Same as above (default)
*: The CANopen communication of inverter does not support the CAN’s remote frame.
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