Siemens SINAMICS G110M Function Manual page 183

Figure 6-8
For synchronous TPDOs, the transmission mode also identifies the transmission rate as a
factor of the SYNC object transmission intervals.
The CAN controller transfers data from synchronous RPDOs that it received after a
SYNC signal only after the next SYNC signal to the inverter.
Note
The SYNC signal synchronizes only the communication on the CANopen bus and not
functions in the inverter, e.g. the clock times of the speed control.
Inhibit time
The inhibit time defines the minimum interval between two transmissions.
PDO services
The following services are available for CANopen:
● PDO Write protocol
● PDO Read protocol
SINAMICS inverters support the PDO Write protocol
Write PDO
The "PDO Write protocol" 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.
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
Principle of synchronous and asynchronous transmission
Communication over CANopen
6.3 PDO services
181