Delta Electronics VFD-E manual PDO Process Data Object

Appendix D How to Use PLC Function

				Data 0						Data	Data	Data	Data	Data	Data	Data
Type										1	2	3	4	5	6	7
		7	6	5	4	3	2	1	0	Index	Index	Index	Data	Data	Data	Data
		command								L	H	Sub	LL	LH	HL	HH
Initiate Domain	Client	0	0	1	-	N		E	S
Download	Server	0	1	1	-	-	-	-	-
Initiate Domain	Client	0	1	0	-	-	-	-	-
Upload	Server	0	1	0	-	N		E	S
Abort Domain	Client	1	0	0	-	-	-	-	-
Transfer	Server	1	0	0	-	-	-	-	-

N: Bytes not use

E:normal(0)/expedited(1)

S:size indicated

E.1.4.3 PDO (Process Data Object)

PDO communication can be described by the producer/consumer model. Each node of the network will listen to the messages of the transmission node and distinguish if the message has to be processed or not after receiving the message. PDO can be transmitted from one device to one another device or to many other devices.

Every PDO has two PDO services: a TxPDO and a RxPDO. PDOs are transmitted in a non- confirmed mode.

PDO Transmission type is defined in the PDO communication parameter index (1400h for the 1st RxPDO or 1800h for the 1st TxPDO), and all transmission types are listed in the following table:

Type Number

0

1-240

241-251

252

253

254

255

PDO

Cyclic	Acyclic	Synchronous	Asynchronous	RTR only
	○	○
○		○
		Reserved
		○		○
			○	○
			○
			○

Type number 1-240 indicates the number of SYNC message between two PDO transmissions.

Type number 252 indicates the data is updated (but not sent) immediately after receiving SYNC.

Type number 253 indicates the data is updated immediately after receiving RTR. Type number 254: Delta CANopen doesn’t support this transmission format.

Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11 E-7