Configuring the fieldbus
7.7 Communication over CANopen
Inverter with CU230P-2 Control Units
198 Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
A PDO consists of communication and mapping parameters. Examples for the structure of
the TPDO and RPDO follow.
The values for communication parameters can be found in the tables in Section Object
directories (Page 207)
Figure 7-20 Structure of the RPDO and TPDO communication objects
An overview of the COB IDs can be found in Section CANopen functions of the converter
(Page 188). Section Predefined connection set (Page 201) explains how the COB IDs are
calculated.
For process data objects, the following transmission types are available, which you set in
index 1 of the communication parameter (p8700[1] … p8707[1] / p8720[1] … p8727[1]) in the
inverter:
● Cyclic synchronous (value range: 1 … 240)
– TPDO after each n-th SYNC
– RPDO after each n-th SYNC
● Acyclic synchronous (value: 0)
– TPDO when a SYNC is received and a process data has changed in the telegram.
● Cyclic asynchronous (values: 254, 255 + event time)
– TPDO when a process data has changed in the telegram.
● Acyclic asynchronous (values: 254, 255)
– TPDO when a process data has changed in the telegram.
– The controller accepts the RPDO immediately.
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