Siemens SINAMICS G120 Operating Instructions Manual page 189

Transmission type
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)
● Acyclic synchronous (value: 0)
● Cyclic asynchronous (values: 254, 255 + event time)
● Acyclic asynchronous (values: 254, 255)
Inhibit time
The inhibit time defines the minimum interval between two transmissions.
Synchronous data transmission
A periodic synchronization object (SYNC object) ensures that the devices on the CANopen
bus remain synchronized during transmission.
Each PDO transferred as synchronization object must include a "transmission type" 1 ... n:
● Transmission type 1: PDO in each SYNC cycle
● Transmission type n: PDO in every n-th SYNC cycle
Converter with the CU250S-2 Control Unit (vector)
Operating Instructions, 06/2013, FW V4.6, A5E31759476B AB
– TPDO after each n-th SYNC
– RPDO after each n-th SYNC
– TPDO when a SYNC is received and a process data has changed in the telegram.
– TPDO when a process data has changed in the telegram.
– TPDO when a process data has changed in the telegram.
– The controller accepts the RPDO immediately.
Configuring the fieldbus
7.8 Communication over CANopen
189