Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 86
5 CANopen communication
5.3 Transmitting process data
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Transmission mode for process output data
The transmission mode is configured via index I-1800, subindex 2 (PDO1-Tx) ... I-1809, subindex 2
(PDO10-Tx):
• Sync-controlled transmission
• n-sync-controlled transmission
• First, a certain number (n) of sync telegrams must be transmitted (I-180x, Subindex 2 = 2 ...
240). Then, the PDO telegram is transmitted to the master.
• Event-controlled transmission (Lenze setting)
Sync telegram for cyclic process data
A special telegram, the Sync telegram, is required for synchronisation when cyclic process data are
transmitted.
The sync telegram must be generated by another node. It initiates the transmission for the cyclic
process data of the I/O system and at the same time triggers data acceptance of cyclic process data
received in the I/O system.
Basic workflow
[5-4] Synchronisation of the cyclic process data by a sync telegram (without considering the asynchronous data)
1. After receiving a sync telegram, the I/O system transmits the cyclic process output data (PDO1-
Tx) if "sync-controlled transmission" is active.
2. Once the transmission is completed, the I/O system receives the cyclic process input data
(PDO1-Rx).
3. The data is accepted by the I/O system with the next sync telegram if "sync-controlled
reception" is active.
4. All other telegrams (e.g. for parameter or event-controlled process data) are accepted
asynchronously by the I/O system after transmission.
Note!
After changing to the CAN state "Operational", the current process image is transmitted
from the I/O system.
Sync cycle time
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