Lenze I/O system 1000 - 5.3 Transmitting process data

5 CANopen communication
5.3 Transmitting process data
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Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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5.3 Transmitting process data
Process data are data for control-oriented purposes, e.g. setpoint and actual values.
Process data or the input / output data of the I/O system are transmitted as so-called PDOs (Process
Data Objects) with high priority via the fieldbus.
5.3.1 Process data telegram
The process data telegram is structured as follows:
Identifier
Information about the identifier can be found in the chapter "Structure of the CAN data telegram".
User data
The 8 bytes of user data transmit the input signals (user data sent) and the output signals (user data
received) of the modules.
11 Bit 8 bytes of user data
Identifier 1st byte 2nd byte 3rd byte 4. byte 5th byte 6. byte 7th byte 8th byte
 Note!
In the Lenze setting, the identifiers are defined according to CANopen (assignment in
accordance with DS301). Via I-2101 the identifier calculation according to the system
bus (assignment according to the Lenze system bus) can be specified.
 Note!
Lenze inverters expect a PDO length of eight bytes even though not all of them may have
assigned I/O values. The PDO length can be set via I-2100:
• 0: PDO length of eight bytes (Lenze setting)
• 1: PDO length according to process image