Lenze E84DGFCC - Manual (Page 39)

EDS84DMOTCAN EN 3.0 - 11/2011
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Communication manual 8400 motec CANopen
Data transfer
Structure of the CAN data telegram
7.1.2 User data
All nodes communicate by exchanging data telegrams via the system bus. The user data
area of the CAN telegram either contains network management data, or parameter data,
or process data:
Network management data
(NMT data)
 Control information on start, stop, reset, etc. of communication to specific nodes or to
all nodes of the CAN network.
Process data
(PDOs – process data objects)
 Process data are transferred via the process data channel.
 Process data can be used to control the controller.
 Process data are not saved to the controller.
 Process data are transmitted between the host (master) and controllers (slaves) to
ensure a continuous exchange of current input and output data.
 Process data usually are unscaled/scalable raw data.
 Process data are, for instance, setpoints and actual values.
 The exact meaning of the PDO file contents is determined via the function block editor
(FB Editor) in the I/O level or via the PDO mapping.
Parameter data
(SDOs – service data objects)
 Parameter data are the CANopen indexes or, in the case of Lenze devices, the codes.
 Parameters are, for instance, used for one-off plant setting during commissioning or
when the material on a production machine is changed.
 Parameter data are transmitted as SDOs via the parameter data channel. They are
acknowledged by the receiver, i.e. the sender gets a feedback about whether the
transmission was successful or not.
 The parameter data channel enables access to all Lenze codes and CANopen indexes.
 Parameter changes are automatically saved to the controller until mains switching.
 Generally the parameter transfer is not time-critical.
 Parameter data are, for instance, operating parameters, diagnostic information, and
motor data.