SKS Sweden Bonfiglioli Vectron Agile, Communications Manual

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CANopen Agile 06/2010 40
Objects
9.2.3 0x1005/0 COB-ID SYNC Message
Index Sub-Index Meaning Data Type Access Map Def.-Val
0x1005 0 COB-ID SYNC Message Unsigned 32 r/w No 0
Object 0x1005 COB-ID SYNC message defines the identifier for the SYNC message as well as
whether the CANopen
®
device generates the SYNC.
The default value of this object is 128 (identifier = 128, SYNC message not generated).
Object 0x1005/0
Bit 31 Bit 30 Bit 29 Bit 11 ... 28 Bit 0 … 10
X gen frame 0 11 Bit CAN-ID
Bit 31: X = don't care
Bit 30: 0 = SYNC message not generated
1 = SYNC message generated
Bit 29: 0 = 11 Bit ID
1 = 29 Bit ID NOT ALLOWED
Bit 0 … 10: 11 Bit CAN-ID
Example:
COB ID CB Index SI Data
Read Request 601 40 05 10 00 00 00 00 00
Response 581 43 05 10 00 80 00 00 00
Write Access 601 23 05 10 00 81 00 00 00
Response 581 60 05 10 00 00 00 00 00
CB: Control byte SI: Sub-Index
9.2.4 0x1006/0 Communication Cycle Period
Index Sub-Index Meaning Data Type Access Map Def.-Val
0x1006 0 Communication Cycle Period Unsigned 32 r/w No 0
The
communication cycle period is the time distance between two consecutive SYNC messages.
The value for
communication cycle period is given in multiples of micro seconds.
Values smaller than 20000 (20 ms) are allowed.
The synchronization of the inverter to an external clock has to be met under the condition, that at
least one RxPDO or TxPDO is defined as synchronous object and is activated. The definitions of the
TxPDO / RxPDO objects can be changed via objects
0x1400
/
0x1800
.
Note:
The inverter can only process the SYNC mechanism in multiples of milliseconds. For this reason the
allowed values for object 0x1006/0
communication cycle period are multiples of milliseconds.
E.g.: 0x1006/0 = 4000 = 4 ms
If the
communication cycle period is NOT set (0x1006/0 = 0), the inverter measures the time dis-
tance between the SYNC messages over the first 11 messages. Please note, that the monitoring
function is deactivated for setting "0". The measurement is solely for internal uses of the frequency
inverter. The time must not change after the measurement.