KEB COMBIVERT G6 - Out;In-Identifier (PDO); Process Data Mapping; Canopen Bootup Sequence

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Functions
3.4 Out/In-Identier(PDO)
TheCANmastercangivethefrequencyinverterunaddressedandunconrmeddataviathe
Outidentier.TheidenticationOutisbasedonthedatadirectionfrommastertoslave.The
frequencyinvertertransfersnewdataunaddressedandunconrmedtotheCANmastervia
theIn-identier.
ThisfunctioniscalledProcessDataObject(PDO)bythecommunicationprole.Threepro-
cess data objects (PDOs) with two object parts Out/In are available at COMBIVERT G6 and
theyareaddressedasfollows:
PDO1(rx) = Out-Identier = 200h + CAN Node ID
PDO1(tx) = IN-Identier = 180h + CAN Node ID
PDO2(rx) = Out-Identier = 300h + CAN Node ID
PDO2(tx) = IN-Identier = 280h + CAN Node ID
PDO3(rx) = Out-Identier = 400h + CAN Node ID
PDO3(tx) = IN-Identier = 380h + CAN Node ID
The three process data objects (PDO) can be assigned each with 8 bytes per direction. Up to
eightparameterswithatotalof8bytesperPDOcanbemappedasfollows:
2xLong
1xLong,2xWord
1xLong,1xWord,2xByte
4xWord
3xWord,2xByte
2xWord,4xByte
8xByte
The parameters of the control are generally not available as process data. Observe the cor-
responding property bit in COMBIVIS 6 (available for process data) at the power unit param-
eters.
The processing of process data occurs with the minimum cycle time of 1 ms
per activated PDO, i.e. three ms if all PDO are activated.
• The process data mapping is located in the co-parameter and fb-parameter group.
3.5 Process data mapping
ThedenitionofthetargetforthedatainthePDO(rx)telegramsrespectivelythesourcefor
thedatainthePDO(tx)telegramscompletelyabidesbytheregulationsoftheCANopencom-
municationprole[].Anotherobjectperdatadirectiondenesthecommunicationdenition
(Communication parameter).
RPDO1 Mapping RPDO1 Communication parameter
TPDO1 Mapping TPDO1 Communication parameter
RPDO2 Mapping RPDO2 Communication parameter
TPDO2 Mapping TPDO2 Communication parameter
RPDO3 Mapping RPDO3 Communication parameter
TPDO3 Mapping TPDO3 Communication parameter
3.6 CANopen bootup sequence
After the initialization phase the KEB CAN interface connection goes automatically into status
pre-operational.InthisstatusthecommunicationbySDO(rx)andSDO(tx)withtheservices