Lenze · E94AYCEC Communication module (POWERLINK CN) · Communication Manual · DMS 3.0 EN · 08/2014 · TD17
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Technical data
4.2
POWERLINK communication data
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4.2.2
Communication time
Parameter data (SDO)
The communication time for parameter data is the time between the transmission of an SDO
request and the arrival of the corresponding response.
• The processing time in the Servo Drive 9400 is approx. 30 ms + 20 ms tolerance (typical)
• For some codes, the processing time may be longer (see reference manual/»Engineer« online
help for the Servo Drive 9400).
Process data (PDO)
The communication time for process data is the time between the reception of a PDO with setpoints
and the return of a PDO with the current actual values.
The communication times for process data depend on ...
• processing time in the Servo Drive 9400 (interval time of the application task, process data
mode);
• Telegram runtime on the fieldbus (telegram length, number of nodes, PDO update time, instant
of transmission of the POWERLINK telegram);
• Use of the synchronisation to the POWERLINK cycles.
Processing time
The basic conditions mentioned above cause the following processing times for the process data in
the Servo Drive 9400:
• Process data for synchronised operation: approx. 1.2 ms
• Process data for non-synchronised operation: approx. 3.0 ms
