Pdo Transmission Modes; Pdo Triggering Modes; Inhibit Time; Event Timer - Danfoss CANopen VLT Midi Drive FC 280 Programming Manual

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4.1.2 PDO Transmission Modes

Subindex 2 contains the setting of the transmission mode.
The following PDO transmission modes are supported:
•
Synchronous transmission.
•
Asynchronous transmission.

4.1.3 PDO Triggering Modes

The CANopen communication profile has 2 message-
triggering modes:
•
Event driven.
•
Remotely requested.
Event driven
An object-specific event triggers the message transmission.
For synchronous PDOs, this is the expiration of the
specified transmission period, synchronized by the
reception of the SYNC object.
For acyclically transmitted synchronous PDOs and
asynchronous PDOs, application-specific events specified in
the device profile trigger the message transmission.
Remotely requested
A remote device can initiate the transmission of
asynchronous PDOs.
Transmission PDO transmission
type
Cyclic Acyclic Synchronous Asynchronous RTR
0 – x
1–240 x –
241–251
252
253
254 – –
255 – –
Table 4.2 PDO Transmission
MG07E102
Programming Guide
only
x – –
x – –
Reserved
Not supported
– x –
– x –
Danfoss A/S © 02/2016 All rights reserved.

4.1.4 Inhibit Time

Subindex 3 contains the inhibit time.
This time defines a minimum interval for PDO transmission.
The value is defined in multiples of 0.1 ms.
Default value is 300 (30 ms).
Minimum value is 0.
Maximum value is 32767 (3.2 s).
Data length is 2 bytes.

4.1.5 Event Timer

Subindex 5 contains the inhibit time for transmit PDOs.
If an event timer is configured for a TPDO (value not equal
to 0), the elapsed timer causes the transmission of this
TPDO.
The event timer can be configured in multiples of 1 ms.
Default value is 0.
Maximum value is 32767 (32 s).
Data length is 2 bytes.

4.2 Control Profile

Select the control word profile in parameter 8-10 Control
Word Profile.

4.3 DSP 402 Control Profile

4.3.1 Objects in DSP 402 Profile

Use the objects defined in DSP 402 profile to control the
frequency converter. The CANopen control cassette
supports the following objects in DSP 402 profile:
•
Object 6040h: Control word.
•
Object 6041h: Status word.
•
Object 6042h: Vl target velocity.
•
Object 6042h: Vl target velocity.
•
Object 6043h: Vl velocity demand.
•
Object 6044h: Vl control effort.
•
Object 6046h: Vl velocity minimum/maximum
amount.
•
Object 6048h: Vl velocity acceleration.
•
Object 6049h: Vl velocity deceleration.
•
Object 604Ah: Vl velocity quick stop.
•
Object 604Ch: Vl dimension factor.
•
Object 6502h: Supported frequency converter
modes.
When parameter 8-10 Control Word Profile is set to [5]
CANopen DSP 402:
•
Use object 6040h as control word.
•
Use object 6042h as reference.
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