Process Data Object (Pdo) - INVT Goodrive390L Series User Manual

Goodrive390L Series Lift-Dedicated VFD
The object cannot be found, and therefore the slave station transmits the following
read/write error command response.
Response
COB-ID
0x583
The error code in the response is 0x06020000, indicating that "Object cannot be found in
the object dictionary".

7.2.3 Process data object (PDO)

The VFD provides four PDO Tx commands (whose indexes are 0x1800 to 0x1803) and four
PDO Rx commands (whose indexes are 0x1400 to 0x1403). PDO Rx is a PDO command
transmitted by the master station to a slave station, that is, it is a master station
command. PDO Tx is a PDO command transmitted by a slave station to the master
station.
The CW, SW, setting, and return value of each PDO of the communication card are all
defined with a "manufacturer-defined object dictionary". In this way, the process data of
a VFD can be monitored not only through PDOs but also through SDOs. For more
information, see the next chapter.
7.2.3.1 Triggering mode of PDO Tx
Each PDO Tx is defined with a transmission type, disabled time, and event timer. The
corresponding subindex of the transmission type is 0x02, that of the disabled time is 0x03,
and that of the event timer is 0x05. Therefore, the object dictionary index corresponding
to PDO2 Tx is 0x1801, and the subindex is 0x02. The same principle applies to other PDO
Tx commands. Both the disabled time and event timer units are milliseconds.
Synchronous triggering: When the transmission type is set to 1 to 240, PDO Tx is
synchronous transmission. For example, if you set the transmission type of PDO2 Tx to n
(1≤n≤240), a slave station transmits one PDO2 Tx command every time after it receives
n synchronous packet objects. The same principle applies to other PDO Tx commands.
Asynchronous triggering (254): When the value of the event timer is not zero, a slave
station transmits PDO Tx commands periodically. For example, if the event timer of PDO2
Tx is set to 200, the slave station transmits a PDO2 Tx command at the interval of 200 ms.
When the value of the event timer is zero, the slave station transmits a PDO Tx command
once the corresponding PDO Tx data changes, and the transmission interval is subject to
the disabled time. A PDO Tx packet can be transmitted only once in the disabled time,
which effectively reduces the load of the bus. When the disabled time is set to a period
shorter than 50 ms, 50 ms is used as the disabled time.
202403 (V1.0）
Object index
code
Byte0 Byte1
0x80 0x00
Sub-index
Byte2 Byte3
0x60 0x00
Communication protocol
Response data
Byte4 Byte5 Byte6
0x00 0x00 0x02
Byte7
0x06
91