INVT Goodrive350 Series, Руководство по эксплуатации

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Communication extension card CANopen communication card
-31-
PDO1 TX PDO2 TX PDO3 TX PDO4 TX
Event timer (ms) 0 0 0 0
Disabled time
(ms)
500 500 500 500
For how to set the triggering type of PDO Tx, see the description of SDO commands.
3.5.2 PDO1
PDO1 is used to read and write parameters of the VFD. The function of PDO1 is similar to that
of an SDO. SDOs are used to read and write objects of an object dictionary, and PDO1 is used
to read and write parameters of the VFD.
Note: PDO1 Tx support only the transmission type of asynchronous transmission 255. Do not
set it to other transmission types, and do not try to set the event timer to periodically transmits
PDO1 Tx to the master station.
3.5.2.1 PDO1 Rx

Command
Request: Master station –> slave station
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5
0x200+NODE-ID
Request code Parameter address Requested data
0x2100.00 0x2100.01 0x2100.02

Description
A request code is two bytes. Byte0 is the LSB, and Byte1 is the MSB. The manufacturer
defines the index 0x2100 and subindex 0x00 for the request codes. Table 3-13 describes the
functions of the request codes.
Table 3-13 Request codes
Request code Function
0 No task
1 Reading the value of a parameter
2 Modifying a parameter value [modifying the value only on RAM]
4
Modifying a parameter value [modifying the value only on both RAM
and EEPROM] (reserved)
A parameter address is two bytes. Byte2 is the LSB, and Byte3 is the MSB. It indicates the
address of the parameter to be read or modified.
Goodrive350 series VFD function code address representation rules: The MSB is the
hexadecimal form of the number before the dot mark, and LSB is that of the number behind
the dot mark. Take P10.01 as an example, the number before the dot mark is 10, that is, the
MSB of the parameter address is 0×0A; and the number behind the dot mark is 01, that is, the
LSB is 0×01. Therefore, the function code address is 0×0A01.