AC Motor Drive User Manual

Appendix D How to Use PLC Function|
Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11 E-7
Data 0 Data
1
Data
2
Data
3
Data
4
Data
5
Data
6
Data
7
7 6 5 4 3 2 1 0 Index Index Index Data Data Data Data
Type
command L H Sub LL LH HL HH
Client 0 0 1 - N E S Initiate Domain
Download
Server 0 1 1 - - - - -
Client 0 1 0 - - - - - Initiate Domain
Upload
Server 0 1 0 - N E S
Client 1 0 0 - - - - - Abort Domain
Transfer
Server 1 0 0 - - - - -
N: Bytes not use
E: normal(0)/expedited(1)
S: size indicated
E.1.4.3 PDO (Process Data Object)
PDO communication can be described by the producer/consumer model. Each node of the
network will listen to the messages of the transmission node and distinguish if the message
has to be processed or not after receiving the message. PDO can be transmitted from one
device to one another device or to many other devices.
Every PDO has two PDO services: a TxPDO and a RxPDO. PDOs are transmitted in a non-
confirmed mode.
PDO Transmission type is defined in the PDO communication parameter index (1400h for
the 1st RxPDO or 1800h for the 1st TxPDO), and all transmission types are listed in the
following table:
PDO
Type Number
Cyclic Acyclic Synchronous Asynchronous RTR only
0
○ ○
1-240
○ ○
241-251 Reserved
252
○ ○
253
○ ○
254
○
255
○
Type number 1-240 indicates the number of SYNC message between two PDO
transmissions.
Type number 252 indicates the data is updated (but not sent) immediately after receiving
SYNC.
Type number 253 indicates the data is updated immediately after receiving RTR.
Type number 254: Delta CANopen doesn’t support this transmission format.