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6.3.2. RTR (Remote Transfer Request) communication
When set RTR setting into TxPDO Transmission type (1800h, 1801h, 1802h, 1814h subindex 02), sending
the RTR (Remote Transfer Request) message, Inverter send TxPDO message.
TxPDO1 RTR message data
COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
0x180+
Node-ID
1 0
--- --- --- --- --- --- --- ---
TxPDO2 RTR message data
COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
0x280+
Node-ID
1 0
--- --- --- --- --- --- --- ---
TxPDO3 RTR message data
COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
0x380+
Node-ID
1 0
--- --- --- --- --- --- --- ---
TxPDO21 RTR message data
COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
0x480+
Node-ID
1 0
--- --- --- --- --- --- --- ---
6.3.3. SYNC communication
When set SYNC type into TxPDO Transmission type (1800h, 1801h, 1802h, 1814h subindex 02) or RxPDO
Transmission type (1400h, 1401h, 1402h, 1414h subindex 02), update command or send monitor data
synchronously to the SYNC message.
And send SYNC message with count data, the inverter SYNC counter are preset with SYNC counter
data.
When change the node state, the SYNC count data in the inverter is cleared.
SYNC send data
COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
0x080 0 0 --- --- --- --- --- --- --- ---
SYNC send data with count data
COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
0x080 0 1 Count --- --- --- --- --- --- ---
6.3.4. Emergency object
The inverter sends the Emergency message at the inverter detects fault condition or CANopen
®
communication node state is changed. About Error code, refer to the ”5.1.1 Object 603Fh: Error Code”
Emergency send data
COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
0x080+
Node-ID
0 8
Emergency
Error Code
Error
Register*1
Manufacture specific error field
L H
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