Pdo3 Tx And Pdo4 Tx; Monitoring Process Data Through Sdo Commands - INVT Goodrive350 Series Operation Manual

Communication extension card
COB-ID
0x400+NODEID

PDO4 Rx command
Master station -> slave station
COB-ID
0x500+NODEID

Description
The application methods for PDO3 Rx and PDO4 Rx are the same as that for PDO2 Rx. For
the relationship between the settings and PZD in PROFIBUS communication, see Table 3-19.

3.5.6 PDO3 Tx and PDO4 Tx

PDO3 Tx and PDO4 Tx are used by the VFD to transmit real-time process data to the master
station, such as running frequency.
The default transmission type of PDO3 Tx and PDO4 Tx is 254, and therefore PDO3 Tx or
PDO4 Tx is transmitted once data corresponding to a returned value in the same command
changes.

PDO3 Tx command
Slave station -> master station
COB-ID
0x380+NODEID

PDO4 Tx command
Slave station -> master station
COB-ID
0x480+NODEID

Description
The application methods for PDO3 Tx and PDO4 Tx are the same as that for PDO2 Tx. For
the relationship between the returned values and PZD in PROFIBUS communication, see
Table 3-20.

3.6 Monitoring process data through SDO commands

The communication can use SDOs as well as PDOs to monitor the process data of a VFD.
You can select a monitoring mode as required. You can monitor the VFD by using SDOs to
Byte0 Byte1
Setting 4
0x2100.06
Byte0 Byte1
Setting 8
0x2100.0a
Byte0 Byte1
Returned value 4 Returned value 5 Returned value 6 Returned value 7
0x2000.06
Byte0 Byte1
Returned value 8 Returned value 9
0x2000.0a
Byte2 Byte3 Byte4
Setting 5
0x2100.07
Byte2 Byte3 Byte4
Setting 9
0x2100.0b
Byte2 Byte3
0x2000.07
Byte2 Byte3
0x2000.0b
-38-
CANopen communication card
Byte5
Setting 6
0x2100.08
Byte5
Setting 10
0x2100.0c
Byte4 Byte5 Byte6
0x2000.08
Byte4 Byte5 Byte6
Returned value
10
0x2000.0c
Byte6 Byte7
Setting 7
0x2100.09
Byte6 Byte7
Setting 11
0x2100.0d
Byte7
0x2000.09
Byte7
Returned value
11
0x2000.0d