Lenze 9400 Series

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06 19
4Technical data
4.3 Protocol data
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4.3 Protocol data
4.4 Communication time
Parameter data (SDO)
The communication time for parameter data is the time between the transmission of an SDO
request and the arrival of the corresponding response.
The processing time in the inverter is approx. 30 ms + 20 ms tolerance (typical)
For some codes, the processing time may be longer (see reference manual/»Engineer« online help
for the Servo Drive 9400).
Process data (PDO)
The communication time for process data is the time between the reception of a PDO with setpoints
and the return of a PDO with the current actual values.
The communication times for process data depend on ...
• processing time in the inverter (interval time of the application task, process data mode);
• Runtime on the fieldbus (frame length, number of devices, PDO update time, instant of
transmission of the EtherCAT telegram);
• Use of the "Distributed clocks" (DC) functionality for synchronised operation.
Synchronisation with "Distributed clocks" (DC)
( 36)
Range Values
Process data 1 ... 32 process data words for each direction
(max. 64 bytes, 16 bits / word)
Parameter data (mailbox size for CoE
transfer)
Max. 128 bytes
FSoE data if the SM302 safety
module is used
(from SW version 04.00)
Safety outputs: 11 bytes
Safety inputs: 19 bytes