KEB COMBIVERT G6 - Broadcast Objects; Communication Objects; Request;Response-Identifier (SDO)

12
Functions
3.1 Broadcast objects
Broadcast object Address
NMT 0 (000h)
SYNC 128 (080h)
3.2 Communication objects
Communication object from address to address
EMCY 129 (081h) 255(0FFh)
TPDO1 385 (181h) 511(1FFh)
RPDO1 513 (201h) 639(27Fh)
TPDO2 641 (281h) 767(2FFh)
RPDO2 769 (301h) 895(37Fh)
TPDO3 897 (381h) 1023(3FFh)
RPDO3 1025 (401h) 1151(47Fh)
SDO(tx) 1409 (581h) 1535(5FFh)
SDO(rx) 1537 (601h) 1663(67Fh)
NMT Error Control 1793 (701h) 1919(77Fh)
3.3 Request/Response-Identier(SDO)
OvertherequestidentieranyCANnodecanrequestthereadingorwritingofaparameter
value.
Theresponseidentierisreservedfortheappropriateresponseofthefrequencyinverter.
The mechanism of request and response is also referred to as acknowledged service. The
CANopencommunicationprolecombinesthesefunctionsunderthetermServiceDataOb-
ject(SDO):
SDO(rx) = Request-Identier = 1536+CAN Node ID
SDO(tx) = Response-Identier = 1408+CAN Node ID
Example: CAN Node ID= 30 → Write/readrequestsoveridentier=1566(dec)
→ Write/readrequestsoveridentier=1438(dec)
Info
Basically the function of the SDOis completelysufcient to control
the KEB G6 frequency inverter by CAN. Each parameter value in the
inverter can be changed or inquired herewith.
The SDO channel is continuous operated independent of the process data transfer. The cycle
time depends on the program run time of the COMBIVERT G6.