INVT Goodrive350 Series, Operation Manual

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Communication extension card CANopen communication card
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the following read operation command.
COB-ID
Request
code
Object index Subindex Requested data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x603 0x40 0x01 0x18 0x03 0x00 0x00 0x00 0x00
After receiving the command transmitted by the master station, the slave station transmits the
following command response if the current disabled time of PDO2 Tx is 1000 ms.
COB-ID
Respons
e code
Object index Subindex Response data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x583 0x43 0x01 0x18 0x03 0xe8 0x03 0x00 0x00
Read/write error example: The master station transmits the following read operation command
to read an object (whose index is 0x6000 and subindex is 0x00) that cannot be found.
COB-ID
Request
code
Object index Subindex Requested data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x603 0x40 0x00 0x60 0x00 0x00 0x00 0x00 0x00
The object cannot be found, and therefore the slave station transmits the following read/write
error command response.
COB-ID
Response
code
Object index Subindex Response data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x583 0x80 0x00 0x60 0x00 0x00 0x00 0x02 0x06
The error code in the response is 0x06020000, indicating that "Object cannot be found in the
object dictionary".
3.5 Process data object (PDO)
The communication card 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. Each PDO command is labeled with "manufacturer-defined object dictionary" in the
format of 0xXXXX.HH, where XXXX indicates an index, HH indicates a subindex, and both of
them are hexadecimal.