Lenze i510 - Troubleshooting; Inverter LED Status Display; CAN LED Status Display

8.4.8 CANopen process data objects
Process data objects (PDOs) are used for the cyclic transmission of (process) data via CAN-
open. PDOs only contain dat
a and an idener. They do not contain any informaon about
the sender or receiver and are therefore very ecient.
Details
•
Process data objects which the inv
erter receives via the network are referred to as "Receive
PDOs" (RPDOs).
•
Process data objects which the inverter sends via the network are referred to as "Transmit
PDOs" (TPDOs).
•
The maximum length of a PDO is 8 bytes (4 data words).
•
Each PDO requires a unique idener ("COB-ID") for the purpose of idencaon within the
network.
•
Furthermore the transmission type mus
t be dened for TPDOs (see the following secon).
•
Communicaon parameters such as the transmission type and cycle me for each PDO can
be set freely and independently of the sengs of other PDOs
Transmission type
Process data objects can be transmied in an event-controlled or me-controlled manner. The
below table shows that it is possible to combine the dierent methods by means of logic
operaons (AND, OR):
•
Event-c
ontrolled: The PDO is sent if a special device-internal event has occurred, for
instance, if the data contents of the TPDO have changed or if a transmission cycle me has
elapsed.
•
Synchronous tr
ansmission: Transmission of a TPDOs or recepon of an RPDO is eected
aer the inverter has received a sync telegram (COB-ID 0x80).
•
Cyclic transmission: The cyclic transmission of PDOs is eected when the transmission cycle
me has elapsed.
•
Polled via RTR: Transmission of a TPDO is carried out on request by another device via data
request frame (RTR remote transmit request). For this, the data requester (e.g. master)
sends the data request frame with the COB-ID of the TPDO that is to be requested to trans-
mit. The receiver recognises the RTR and carries out the transmission.
Transmission type PDO transmission Logic combinaon of dier-
ent transmission types
cyclic synchronous event-controlled
0
l l
AND
1 ... 240
l
-
254, 255
l l
OR
Transmission type Descripon
0 Synchronous and acyclic
•
The PDO is transmied on an event-controlled basis with every sync (e.g. when a bit change occurs in the PDO).
1 ... 240 Synchronous and cyclic (sync-controlled with a response)
•
Selecon n = 1: The PDO is transmied with every sync.
•
Selecon 1 < n ≤ 240: The PDO is transmied with every n-th sync.
241 ... 251 Reserved
252 Synchronous - RTR only
253 Asynchronous - RTR only
254, 255 Asynchronous - manufacturer-specic / device prole-specic
•
If one of these v
alues is entered, the PDO is tr
ansferred in an event-controlled or cyclic manner. (The values "254"
and "255" are equivalent).
•
For a cyclic transmission, a cycle me must be entered for the respecve PDO. In this case, cyclic transmission
takes place in addion to e
vent-controlled transmission.
Conguring the network
CANopen
CANopen process data objects
117
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