Siemens Sinamics G120P Operating Instructions Manual page 269

PDO services
The PDO services can be subdivided as follows:
● Write PDO
● Read PDO
● SYNC service
Write PDO
The "Write PDO" service is based on the "push" model. The PDO has exactly one producer.
There can be no consumer, one consumer, or multiple consumers.
Via Write PDO, the producer of the PDO sends the data of the mapped application object to
the individual consumer.
Read PDO
The "Read PDO" service is based on the "pull" model. The PDO has exactly one producer.
There can be one consumer or multiple consumers.
Via Read PDO, the consumer of the PDO receives the data of the mapped application object
from the producer.
SYNC service
The SYNC object is sent periodically from the SYNC producer. The SYNC signal represents
the basic network cycle. The standard "Communication cycle time" parameter sets the time
interval between two SYNC signals in the master.
In order to ensure CANopen accesses in real-time, the SYNC object has a high priority,
which is defined using the COB ID. It can be changed via p8602 (factory setting = 80 hex).
The service runs unconfirmed.
Note
Set the COB ID of the SYNC object to the same value for all nodes of a bus that should
respond to the SYNC telegram from the master.
The COB ID of the SYNC object is defined in object 1005h (p8602).
Inverter cabinet units
Operating Instructions, 12/2014, A5E32923362A
6.9 Communication over CANopen
Operation
269