Parameter data telegrams are sent as process data telegrams due to incorrect behaviour

What happens?
Sporadically a parameter data telegram (SDO) is sent with the identifier of a process data telegram (PDO) due to an incorrect bit change in the identifier.

When does the problem occur?
The problem occurs only in case of a transmission ratio of 1 MBaud, if in addition to the process data transfer the parameter data transfer is used. If in this case the CAN communication is operated with the Lenze default setting, the usage of the parameter channel 1 and the process data channel 1 can cause this problem.

Possible diagnostics?
If the drive controller revises process data by the CAN on board (e. g. angle setpoint) and if operation leads to errors regarding setpoint conversion, this error can be a consequence of the faulty process data. A CAN analyser enables the clear analysis of the error.

Short-term measures/ recommendations?
In the attachment you will find an example, which shows the connections between the faulty generated identifier of the SDO telegram and the identifier of the PDO telegram.

Evaluation:
Our tests showed this error immediately, so that this function restriction occurs with the first commissioning of the machine. The additionally generated SDO telegrams with the incorrect identifier do not contribute to an increase essentially of the bus load.