INVT Goodrive350 Series, Operation Manual

Page: 43 / 135

Communication extension card CANopen communication card
-38-
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x400+NODEID
Setting 4 Setting 5 Setting 6 Setting 7
0x2100.06 0x2100.07 0x2100.08 0x2100.09

PDO4 Rx command
Master station -> slave station
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x500+NODEID
Setting 8 Setting 9 Setting 10 Setting 11
0x2100.0a 0x2100.0b 0x2100.0c 0x2100.0d

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 Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x380+NODEID
Returned value 4 Returned value 5 Returned value 6 Returned value 7
0x2000.06 0x2000.07 0x2000.08 0x2000.09

PDO4 Tx command
Slave station -> master station
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x480+NODEID
Returned value 8 Returned value 9
Returned value
10
Returned value
11
0x2000.0a 0x2000.0b 0x2000.0c 0x2000.0d

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