2 transmission type, Transmission type – Lenze E94ARNE Regenerative power supply User Manual
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EDS94ARNExxxx EN 2.3 - 06/2014
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9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Process data transfer
6.6.2
Transmission type
Process data objects can be transmitted in an event-controlled or time-controlled manner.
Event-controlled: The PDO is sent when 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 the identifier 0x80).
Cyclic: The transmission of PDOs takes place at fixed time intervals after the
transmission cycle time has elapsed.
The following table shows that combinations of the different transmission methods by
means of logic operations (AND, OR) are also possible:
The communication parameters of each PDO (e.g. transmission mode and cycle time) can
be set freely and independently of the settings of other PDOs:
Tip!
The setting can also be made via the following CANopen objects:
•
: communication parameters for RPDO1 ... RPDO4
•
: 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 nth sync.
254, 255
Event-controlled (with mask) with cyclic overlay
If this value is entered, the PDO is transmitted in an event-controlled or cyclic manner.
(Note: Currently the values "254" and "255" have the same meaning.)
Cyclic overlay is given if a cycle time is set for the respective PDO. In this case, cyclic
transmission takes place in addition to event-controlled transmission (e.g. when a bit
change occurs in the PDO).
Parameter
Information
Lenze setting
Value Unit
CAN TPDOx Tx mode
254
CAN RPDOx Rx mode
254
CAN TPDOx delay time
0 1/10 ms
CAN TPDOx cycle time
0 ms