CANopen
6 Parameter setting
6-1
L BA2175 EN 2.0
6 Parameter setting
Master and slave communicate with each other by sending data telegrams via the CAN bus. The
user data range of a data telegram contains either network management data, parameter data
or
process data.
.
Different communication channels are assigned to parameter and process data in the controller.
Telegram type Communication channel
Parameter data
(SDO,
ServiceDataObjects)
These are, for instance,
• operating parameters
• diagnostics information
• motor data
In general, the parameter transfer is not as
time-critical as the tranfer of process data.
Parameter data channel
(Chapter 6.2)
• Enables access to all Lenze codes and
the CANopen index.
• Parameter changes are automatically
stored in t he controller (tak e L-C0003
into account).
Process data,
(PDO,
Process Data Objects)
These are, for instance,
• Setpoints
• Actual values
Exchange between host and controller
required as fast as possible. Small amounts
of data which can be transferred cyclically.
Process data channel
(chapter 6.3)
• The controller can be controlled using
process data.
• The host has direct access to process
data.
In the PLC the data are, for instance,
directly assigned to the I/O area.
• Process data are
– not stored in the controller.
– cyclically transferred between host
and controller to ensure a continuous
exchange of current input and output
data.
Tab. 6-1 Division of parameter data and process data in different communication channels
The following regulations for a communication protocol only describe what is related to Lenze
controller networkds.
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