Lenze E94ARNE Regenerative power supply - Manual (Page 115)

EDS94ARNExxxx EN 2.3 - 06/2014
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115
9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Process data transfer
6.6.5 Synchronisation of PDOs via sync telegram
In the case of cyclic transmission, one or several PDOs are sent/received at fixed time
intervals. An additional special telegram, the sync telegram, is used to synchronise the
cyclic process data.
 The sync telegram is the trigger point for the transmission of process data from the
slaves to the master and for the acceptance of process data from the master in the
slaves.
 For sync-controlled process data processing, the sync telegram must be generated
accordingly.
 The response to a sync telegram is specified by the selected transmission type.

Transmission type
( 113)
Schematic procedure
[6-7] Sync telegram
A. After the sync telegram has been received, the slaves send the synchronous process
data to the master (TPDOs). The master reads them as process input data.
B. When the transmission process has been completed, the slaves receive the process
output data from the master (RPDOs).
– All further telegrams (e.g. parameters or event-controlled process data) are accepted
non-cyclically by the slaves when the transmission is completed.
– The non-cyclic data are not shown in Fig. [6-7] . They must be taken into account
when dimensioning the cycle time.
C. The data are accepted by the slave with the next sync telegram if the Rx mode is set to
1 ... 240. When the Rx mode is set to 254 or 255, the data are accepted independently
of the sync telegram during the next device cycle.
 Sync cycle time ( C01121 )
ΠSYNC SYNC
0 1 2