CANopen
6
Parameter setting
6-1
L
BA2175 EN 2.0
6
Parameter setting
Master and slave communicate with each other by sending data telegrams via the CAN bus. The
user data range of a data telegram contains either network management data, parameter data or
process data..
Different communication channels are assigned to parameter and process data in the controller.
Telegram type
Communication channel
Parameter data
(SDO,
Service Data Objects)
These are, for instance,
•
operating parameters
•
diagnostics information
•
motor data
In general, the parameter transfer is not as
time-critical as the tranfer of process data.
Parameter data channel
(Chapter 6.2)
•
Enables access to all Lenze codes and
the CANopen index.
•
Parameter changes are automatically
stored in the controller (take L-C0003
into account).
Process data,
(PDO,
Process Data Objects)
These are, for instance,
•
Setpoints
•
Actual values
Exchange between host and controller
required as fast as possible. Small amounts
of data which can be transferred cyclically.
Process data channel
(chapter 6.3)
•
The controller can be controlled using
process data.
•
The host has direct access to process
data.
In the PLC the data are, for instance,
directly assigned to the I/O area.
•
Process data are
– not stored in the controller.
– cyclically transferred between host
and controller to ensure a continuous
exchange of current input and output
data.
Tab. 6-1
Division of parameter data and process data in different communication channels
The following regulations for a communication protocol only describe what is related to Lenze
controller networkds.
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