Lenze L-force 9400 Series

EDS94ARNExxxx EN 2.3 - 06/2014 L 113
9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Process data transfer
6.6.2 Transmission type
Process data objects can be transmitted in an event-controlled or time-controlled manner.
 Event-controlled: The PDO is sent when a special device-internal event has occurred,
for instance when the data contents of the TPDO have changed or when a transmission
cycle time has elapsed.
 Synchronous: A TPDO (or RPDO) is transmitted (or received) after the device has
received a sync telegram (with the identifier 0x80).
 Cyclic: The transmission of PDOs takes place at fixed time intervals after the
transmission cycle time has elapsed.
The following table shows that combinations of the different transmission methods by
means of logic operations (AND, OR) are also possible:
The communication parameters of each PDO (e.g. transmission mode and cycle time) can
be set freely and independently of the settings of other PDOs:
 Tip!
The setting can also be made via the following CANopen objects:
• I-1400
... I-1403: communication parameters for RPDO1 ... RPDO4
• I-1800
... I-1803: communication parameters for TPDO1 ... TPDO4
Transmission type PDO transmission Logic operation
Cyclic Synchronous Event-controlled
0 AND
1 ... 240  -
254, 255 OR
Transmission type Description
0 The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change
occurs in the PDO).
1 ... 240 Sync (with response)
• Selection n = 1: The PDO is transmitted with every
sync.
• Selection 1 < n ≤ 240: The PDO is transmitted with every nth
sync.
254, 255 Event-controlled (with mask) with cyclic overlay
If this value is entered, the PDO is transmitted in an event-controlled or
cyclic manner.
(Note: Currently the values "254" and "255" have the same meaning.)
Cyclic overlay is given if a cycle time is set for the respective PDO. In this case, cyclic
transmission takes place in addition to event-controlled transmission (e.g. when a bit
change occurs in the PDO).
Parameter Information Lenze setting
Value Unit
C00322/1...4 CAN TPDOx Tx mode 254
C00323/1...4
CAN RPDOx Rx mode 254
C00324/1...4
CAN TPDOx delay time 0 1/10 ms
C00356/1...4
CAN TPDOx cycle time 0 ms