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
1
2
3
4
5
6
7
data
data
data
data
data
data
data
data
The number of data bytes is 1 … 8 and depends on the mapped objects. The byte
alignment is in Intel format.
Byte
0
1
2
3
4
5
16 bit object
32 bit object
LSB
MSB
LSB
…
…
MSB
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
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Content
EEC
EEC
ER
MEC MEC
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
11.6
Synchronization (Distributed Clocks)
CM-EtherCAT
®
modules support synchronized communication via Distributed Clocks
(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
CM-EtherCAT
29
