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Lenze · E94AYCEP communication module (POWERLINK MN/CN) · Communication Manual · DMS 6.0 EN · 02/2014 · TD17 18

4Technical data

4.2 POWERLINK communication data

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4.2.3 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

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