11 System bus "CAN on board"
11.6 Structure of the CAN data telegram
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Lenze · 8400 HighLine · Reference manual · DMS 12.0 EN · 06/2017 · TD23
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11.6.2 User data
All nodes communicate by exchanging data telegrams via the system bus. The user data area of the
CAN telegram either contains network management data or parameter data or process data:
Network management data
(NMT data)
• Control information on start, stop, reset, etc. of communication to specific nodes or to all nodes
of the CAN network.
Process data
(PDOs – process data objects)
• Process data are transferred via the process data channel.
• Process data can be used to control the inverter.
• Process data are not
saved in the inverter.
• Process data are transmitted between host system and nodes to ensure continuous exchange
of current input and output data.
• Process data usually are unscaled/scalable raw data.
• Process data are, for instance, setpoints and actual values.
•The exact meaning of the PDO file contents is determined via the function block editor (FB
Editor) in the I/O level or via the PDO mapping.
Parameter data
(SDOs – service data objects)
• Parameter data are the CANopen indexes or, in case of Lenze devices, the codes.
• Parameters are set, for instance, when the system is initially adjusted during commissioning or
when the material of the production machine is changed.
• Parameter data are transmitted as SDOs via the parameter data channel. They are
acknowledged by the receiver, i.e. the transmitter gets a feedback about the transmission being
successful or not.
• The parameter data channel enables access to all Lenze codes and CANopen indexes.
• Parameter changes are automatically saved to the inverter until mains switching.
• In general, the parameter transfer is not time-critical.
• Parameter data are, for instance, operating parameters, diagnostic information and motor data
as well as control information on the interconnection of function blocks in the I/O level of the
FB Editor.
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