Lenze · 8400 HighLine · Reference manual · DMS 12.0 EN · 06/2017 · TD23 731
11 System bus "CAN on board"
11.8 Process data transfer
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11.8.3 Transmission type
Process data objects can be transmitted in an event-controlled or time-controlled manner. The
below table shows that it is possible to combine the different methods by means of logic operations
(AND, OR):
•Event-controlled
The PDO is sent when a special device-internal event has occurred, e.g. when the data contents
of the TPDO have changed or when a transmission cycle time has elapsed
• Synchronous transmission
A TPDO (or RPDO) is transmitted (or received) after the device has received a sync telegram
(COB-ID 0x80).
• Cyclic transmission
The cyclic transmission of PDOs takes place when the transmission cycle time has elapsed.
• Polled via RTR
A TPDO is transmitted when another device requests it by means of a data request telegram
(RTR remote transmit request). For this purpose, the data requester (e.g. the master) sends the
data request telegram with the COB-ID of the TPDO requested to be sent. The receiver
recognises the RTR and transmits the corresponding PDO.
Transmission type PDO transmission Logic combination of
different
transmission types
cyclic synchronous event-controlled
0 AND
1 ... 240 -
254, 255 OR
Transmission type Description
0 Synchronous and acyclic:
The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change
occurs in the PDO).
1 ... 240 Synchronous and cyclic (sync-controlled with response):
• Selection n = 1: The PDO is transmitted with every
sync.
• Selection 1 < n ≤ 240: The PDO is transmitted with every n-th
sync.
From version 16.00.00 onwards, the transmit PDOs are also sent when the sync telegram is
generated. Precondition: the sync Tx identifier and sync Rx identifier have the same value.
241 ... 251 Reserved
252 Synchronous - RTR only
253 Asynchronous - RTR only
254, 255 Asynchronous - manufacturer-specific / device profile-specific:
If this value is entered, the PDO transmission is event-controlled or
cyclic.
(Note: The values "254" and "255" have the same meaning).
For a cyclic transmission, a cycle time must be entered for the respective PDO. In this case,
cyclic transmission takes place in addition to event-controlled transmission.
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