COB IDs and functions in the inverter
The CANopen profile provides the following COB ID (Communication Object Identifier) and functions.
Messages and COB IDs | ||
|---|---|---|
Type | COB ID | Function |
NMT | 000h | Network management |
Sync | 080h | Synchronous message with dynamically configurable COB ID |
Emergency | 080h + device address | Emergency message with dynamically configurable COB ID |
PDO1The inverter supports up to 2 process data objects (PDO). All PDOs are "premapped" and active with transmission mode 1 (cyclical and synchronous). This means that the Tx-PDO is sent after every SYNC pulse regardless of whether the content of the Tx-PDO has changed or not. | 180h + device address | PDO (Process Data Object) PDO1 is premapped and activated by default. PDO2 is premapped and activated by default. Transmission mode (synchronous, asynchronous, event), COB ID and mapping can be configured freely. |
PDO1 (Rx) | 200h + device address | |
PDO2 (Tx) | 280h + device address | |
PDO2 (Rx) | 300h + device address | |
SDO (Tx)The inverter SDO channel supports only expedited transmission. The SDO mechanisms are described in detail in the CANopen specification DS301. | 580h + device address | SDO channel for the exchange of parameter data with the CANopen master |
SDO (Rx)2) | 600h + device address | |
Error control | 700h + device control | Guarding and heartbeat functions are supported. COB ID can be set to another value. |
INFORMATION
If speed, current, or similar values that change quickly are sent via Tx-PDO, this results in a very high load on the bus.
To limit the bus load to predictable values, you can use the inhibit time; see section "Inhibit time" in the "MOVIDRIVE® MDX60B/61B Communication and Fieldbus Device Profile" manual.
- Tx (transmit) and Rx (receive) are depicted from the perspective of the slave.
