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4Technical data

4.2 POWERLINK communication data

Lenze · E94AYCEP communication module (POWERLINK MN/CN) · Communication Manual · DMS 6.0 EN · 02/2014 · TD17

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4.2 POWERLINK communication data

4.2.1 Operating mode "Managing Node"

4.2.2 Operating mode "Controlled Node"

• Support of multiplexed CNs

• Support of optional CNs

Range Values

Jitter synchronisation information approx. 1 s

Minimum cycle time Managing Node: 1.0 ms

Controlled Node: 0.5 ms

Total cycle times Managing Node: 1.0 ... 20.0 ms

Controlled Node: 0.5 / 1.0 / 2.0 / 3.0 … 20.0 ms

Buffer size Tx-iso: max. 92 bytes (64 bytes of PDO user data)

Rx-iso: max. 328 Bytes (300 bytes of PDO user data)

Delay times (Controlled Node) T

Preq

- T

Res

: approx. 1 s

SoA

- T

ASnd

: approx. 20 s

Dead times for Managing Node Between 2 transmission messages: min. 1 s

Between receive and transmit frame: min. 1 s

Frame size Max. asynchronous frame size (MTU): 1518 bytes

SDO communication method UDP/IP

Number of RPDOs Max. 10 channels (max. 300 bytes of PDO user data per channel)

RPDO user data per application (all

RPDOs)

Max. 32 objects (max. 64 bytes)

Number of TPDOs 1 channel (data access of all nodes by broadcasting)

TPDO user data per application Max. 32 objects (max. 64 bytes)

Range Values

Node address (node ID) 240

Max. number of nodes 50 Controlled Nodes + POWERLINK router + diagnostic device

Nodes per ms Approx. 25

Support of multiplex CNs Yes

Support of optional CNs Yes

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