SycoTec easyDrive 4624 - 6 Notes on PDO Functionality

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6.0 Notes on PDO Functionality
Transmit PDO: Process data of the inverter to the controller
Receive PDO: Process data of the controller to the inverter
The frequency inverter 4624, 4625, 4626 each have a transmit PDO and a receive PDO. The data mapped in
these PDO (i.e., the internal registers of the inverter, which are sent or received a part of the PDO) is fixed
and cannot be changed.
The transmit PDO contains the two objects 0x6041:0 (Statusword) and 0x6044:0 (vl_velocity_actual_value).
These are sent cyclically by the inverter. Preset as Transmission Type (object 0x1800:2) is a system-specific
transmission rate. The PDO is only sent when the status changes. The Transmission Type can be set that this
PDO reacts to sync events of the controller and sends data to an n-th sync event. To do this, in the register
0x1800:2, a value between 1 (send PDO for each sync event) and 240 (send PDO for each 240th sync event).
The register 0x1800:2 can only be written in NMT mode Pre-Op or Stopped!
The receive PDO expects as data object the Controlword (mapping to object 0x6040:0) and the parameter
vl_target_velocity (0x6042:0). The controller must send a corresponding transmit PDO with matching COB-ID
and the associated data as content. The inverter responds to each received PDO and processes it
accordingly.
Control side evaluation of the transmit PDO: A receive PDO matching the transmit PDO must be
implemented in the controller. The received data for the Statusword of the inverters and the current speed
can then be further processed in the controller.
For proper control of the inverter via its receive PDO, the Controlword should first be written to the
controller via a transmit PDO, so that the inverter is switched to the correct mode for its start. At the same
time (or later), the speed settings can be updated with each PDO.
The correct procedure for changing the Transmission Type for the TPDO of the inverter is as follows:
(1) Inverter must be in Pre-Op-Mode
(2) Set COB-Invalid-BIT in the COB-ID of the TPDO1 (Object 0x1800:1). Then TPDO parameters can be
changed! (New COB-ID = COB-ID | 0x80000000)
(3) Write new value to Transmission Type (Object 0x1800:2).
(4) Delete COB-Invalid-BIT in the COB-ID of TPDO1 (Object 0x1800:1). (New COB-ID = COB-ID &
~(0x80000000))
(5) Switch inverter to Operational Mode
If, for example, the Transmission Type is set to 10, the inverter sends TPDO1 with the current Statusword
and the current speed for every tenth SYNC received from the master.
A change of the Transmission Type for the RPDO1 is not advisable. Here, the master sends the PDO with the
new Controlword and the new setpoint speed, which must be processed by the inverter immediately. Since
PDO transmitted by the master are sent independently of SYNC pulses, the inverter does not react to the
PDO in this case!