Operating instructions

30 08/06
4.11 Process data channels, PDO
4.11.1 Identifier assignment process data channel
The process channel for the exchan
g
e of process data under CANopen is the PDO
channel. Up to three PDO channels with differing properties can be used in one device.
T
he PDO channels are defined via identifiers accordin
g
to the Predefined Connection
Set to CANopen:
Identifier 1. Rx-PDO = 512 + Node-ID
Identifier 1. Tx-PDO = 384 + Node-ID
Identifier 2. Rx-PDO = 768 + Node-ID
Identifier 2. Tx-PDO = 640 + Node-ID
Identifier 3. Rx-PDO = 1024 + Node-ID
Identifier 3. Tx-PDO = 896 + Node-ID
This corresponds to the factory settings of the frequency inverters for the Rx/Tx-
PDO‘s. This occupancy is aligned to an external master (PLC/PC) serving all the chan-
nels.
If the PDO channels are used for a connection of the frequency inverters amon
g
st one
another, the identifiers are to be set accordingly by parameterization.
Attention! In free assignment of the identifiers, there may not be any double occu-
pancy !
The identifier range 129...191 may not be used as the emergency tele-
grams can be found there.
Setting of the identifiers of the Rx/TxPDO’s:
Parameter Setting
No. Description Min. Max. Fact. sett.
924 RxPDO1 Identifier 0 2047 0
925 TxPDO1 Identifier 0 2047 0
926 RxPDO2 Identifier 0 2047 0
927 TxPDO2 Identifier 0 2047 0
928 RxPDO3 Identifier 0 2047 0
929 TxPDO3 Identifier 0 2047 0
T
he settin
g
"0” results in identifier assi
g
nment accordin
g
to the Predefined Connection
Set.