Lenze 8400 motec Series - Transmission Type for PDOs

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 49
Process data transfer
Transmission type
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8.4 Transmission type
Process data objects can be transmitted in an event-controlled or time-controlled manner. The
below table shows that it is possible to combine the different methods by means of logic operations
(AND, OR):
•Event-controlled
The PDO is sent when a certain device-internal event has occurred, e.g. when the data contents
of the TPDO have changed or when a transmission cycle time has elapsed
• Synchronous transmission
A TPDO (or RPDO) is sent (or received) after the device has received a sync telegram (COB-ID
0x80).
• Cyclic transmission
The cyclic transmission of PDOs takes place when the transmission cycle time has elapsed.
• Polled via RTR
A TPDO is sent when another device requests it by means of a data request telegram (RTR
remote transmit request). For this purpose, the data requester (e.g. the master) sends the data
request telegram with the COB-ID of the TPDO requested to be sent. The receiver recognises the
RTR and transmits the corresponding PDO.
Transmission type PDO transmission Logic combination of
different
transmission types
cyclic synchronous event-controlled
0 AND
1 ... 240  AND
254 OR
Transmission type Description
0 Synchronous and acyclic:
The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change
occurs in the PDO).
1 ... 240 Synchronous and cyclic (sync-controlled 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.
241 ... 251 Reserved
252, 253 RTR-controlled manner is not permissible.
254 Event-controlled with cyclic transmission:
If this value is entered, the PDO is transferred in an event-controlled or cyclic manner. (The
values "254" and "255" are equivalent).
For a cyclic transmission, a cycle time must be set for the respective PDO. In this case, cyclic
transmission takes place in addition to event-controlled transmission.
255 Not permissible