Lenze 9400 Manual de usuario descargar pdf (Pagina 308)

9 "CAN on board" system bus

9.6 Process data transfer

308

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

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9.6.2 Transmission type

The process data objects are transmitted in an event-controlled or time-controlled way.

• Event-controlled: The PDO is sent if a special device-internal event has occurred, for instance,

when the data contents of the TPDO have changed or when a transmission cycle time has

elapsed.

• Synchronous: A TPDO (or RPDO) is transmitted (or received) after the device has received a sync

telegram (with identifier 0x80).

• Cyclically: The PDOs are transmitted in fixed time intervals after the transmission cycle time has

elapsed.

The table shows that combinations of logic operations (AND, OR) are also possible between the

different transmission modes:

The communication parameters such as the transmission mode and cycle time can be set freely for

every PDO and independently of the settings of other PDOs:

 Tip!

The setting can also be made via the following CANopen projects:

• I-1400

... I-1403: Communication parameters for RPDO1 ... RPDO4

• I-1800

... I-1803: Communication parameters for TPDO1 ... TPDO4

Transmission type PDO transmission Logic operation

cyclic synchronous event-controlled

0 AND

1 ... 240  -

254, 255 OR

Transmission type Description

0 The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change

occurs in the PDO).

1 ... 240 SYNC (with response)

• Selection n = 1: The PDO is transmitted with every

sync.

• Selection 1 < n ≤ 240: The PDO is transmitted with every n-th

sync.

254, 255 Event-controlled (with mask) with cyclic overlay

If this value is entered, the PDO transmission is event-controlled or

cyclic.

(Note: The values "254" and "255" have the same meaning).

For cyclic overlay, a cycle time must be set for the respective PDO. In this case, cyclic

transmission takes place in addition to event-controlled transmission (e.g. through a bit

change in the PDO).

Parameter Info Lenze setting

Value Unit

C00322/1...4 CAN TPDOx Tx mode 254

C00323/1...4

CAN RPDOx Rx mode 254

C00324/1...4

CAN TPDOx delay time 0 1/10 ms

C00356/1...4

CAN TPDOx cycle time 0 ms

1 2 ... 303 304 305 306 307 308 309 310 311 312 313 ... 953 954

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