Sdo Channels (Parameter Data); Pdo Channels (Process Data) - BONFIGLIOLI actice Instruction Manual

4.7.1
Each frequency inverter possesses two SDO channels for the exchange of parameter
data. In a slave device, these are two server SDO's, in a device defined as a master a
client SDO and a server SDO. Attention must be paid to the fact that only one master
for each SDO channel may exist in a system.
Note:
The identifier assignment for the SDO channels (Rx/Tx) is done according to the Pre-
defined Connection Set.
This assignment can be changed via parameters in order to solve identifier conflicts in
a larger system in which other devices and frequency inverters are connected to the
CAN bus.
Attention! In a system where a frequency inverter works as a master, the identifier
Parameters are read/written via the SDO channels. With the limitation to the SDO
Segment Protocol Expedited, which minimizes the handling needed for the parameter
exchange, the transmittable data are limited to the uint / int / long types. This permits
complete parameterization of the frequency inverters via the system bus, as all the
settings and practically all the actual values mapped to these data types.
4.7.2
Each frequency inverter possesses three PDO channels (Rx/Tx) for the exchange of
process data.
The identifier assignment for the PDO channel (Rx/Tx) is done by default according to
the Predefined Connection Set. This assignment corresponds to an alignment to a
central master control.
In order to establish logical channels between the devices (transverse movement) on
the system bus, the amendment of the PDO identifiers for Rx/Tx is necessary.
Each PDO channel can be operated with time or SYNC control. In this way, the opera-
tion behavior can be set for each PDO channel:
The setting of the operation mode is done via the following parameters:
TxPDO1 Function
RxPDO1 Function
For synchronous PDO's, the master (PC, PLC or frequency inverter) generates the
SYNC telegram. The identifier assignment for the SYNC telegram is done by default
according to the Predefined Connection Set. This assignment can be altered by
parameterization.
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06/05

SDO channels (parameter data)

Only one master can initiate exchange of data by its client SDO via the
system bus.
allocations for the SDO channel may not be altered.
In this way, an addressing of individual nodes via the field bus/system
bus path of the master frequency inverter is possible.

PDO channels (process data)

TxPDO2 Function
930,
RxPDO2 Function
936,
Operation mode
0 - deactivated
1 - time-controlled
2 - SYNC controlled
932 und
937 und
no exchange of data via the PDO channel (Rx and/or Tx)
Tx-PDO's cyclically transmit according to the time specifica-
tion
Rx-PDO's are read in with Ta = 1 ms and forward the data
received to the application
Tx-PDO's transmit the data from the application that are
then current after the arrival of the SYNC telegram.
Rx-PDO's forward the last data received to the application
after the arrival of the SYNC telegram.
TxPDO3 Function
934
RxPDO3 Function
938
Function
15
15