Pdo Function; Emergency Function; Synchronization (Distributed Clocks) - BONFIGLIOLI Vectron ACTIVE CUBE Series Manual

11.4

PDO Function

The PDO (Process Data Objects) messages are messages with up to eight bytes of
process data. The process data objects are mapped to the Rx/Tx-PDO's with the help
of communication objects (communication/mapping parameter). Active Cube inverters
support 3 RxPDO's (PLC  inverter) and 3 TxPDO's (inverter  PLC).
Process data objects are directly linked to application functions of the inverter.
PDO-message:
Byte 0
data
The number of data bytes is 1 ... 8 and depends on the mapped objects. The byte
alignment is in Intel format.
Byte
11.5

Emergency Function

In the event of a communication error or an error inside the inverter, the inverter
sends an emergency message. This emergency message includes the relevant error
information. After error acknowledgement (fault reset), an emergency message is
sent with all data bytes set to zero.
Byte
Content
EEC: Emergency Error Code according to DS301
ER: Emergency Register Code according to DS301
MEC: Manufacturer Error Code
The Manufacturer Error Code corresponds to the inverter Fault codes that are de-
scribed in the Operating Instructions and in this documentation in chapter 16.4
"Fault messages".
11.6

Synchronization (Distributed Clocks)

CM-EtherCAT
(DCs) and non-synchronized communication.
The configuration of the DCs is done via the PLC configuration utility. No settings
have to be made on the frequency purchase side.
In the "Interpolated position mode" operation mode, DCs must be used for exact
and equidistant time control.
The DC Sync Time (synchronization time) must be set in steps of 1 ms. Minimum is
1 ms, maximum 20 ms.
07/13
1 2
data data data
0 1
16 bit object
LSB MSB
Byte 0 Byte 1
EEC EEC
®
modules support synchronized communication via Distributed Clocks
CM-EtherCAT
3 4 5
data data
2 3
32 bit object
LSB ...
Byte 2 Byte 3 Byte 4
ER
6 7
data data
4 5
... MSB
Byte 5 Byte 6 Byte 7
MEC MEC
29