Lenze 9400 - Manual (Page 308)

9 "CAN on board" system bus
9.6 Process data transfer
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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