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6 Planning the CANopen network

6.3 Device specifications of the field devices

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17

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6.3.3 Special features of the I/O system 1000 (EPM-Sxxx)

Basic identifier - I/O system 1000 (EPM-Sxxx)

The default setting of the basic identifier is as follows:

1) When creating the sync transmit/receive identifier manually, observe the use of the emergency telegram because

of the same COB-ID.

Object Direction Basic identifier

from the drive to the drive Dec hex

NMT 0 0x000

Sync 1) 128 0x080

Emergency  128 0x080

PDO1

(Process data channel 1)

TPDO1

 384 0x180

RPDO1

 512 0x200

PDO2

(Process data channel 2)

TPDO2

 640 0x280

RPDO2

 768 0x300

PDO3

(Process data channel 3)

TPDO3

 896 0x380

RPDO3

 1024 0x400

PDO4

(Process data channel 4)

TPDO4

 1152 0x480

RPDO4

 1280 0x500

PDO5

(Process data channel 5)

TPDO5

 1664 0x680

RPDO5

 1920 0x780

PDO6

(Process data channel 6)

TPDO6

 448 0x1C0

RPDO6

 576 0x240

PDO7

(Process data channel 7)

TPDO7

 704 0x2C0

RPDO7

 832 0x340

PDO8

(Process data channel 8)

TPDO8

 960 0x3C0

RPDO8

 1088 0x440

PDO9

(Process data channel 9)

TPDO9

 1216 0x4C0

RPDO9

 1344 0x540

PDO10

(Process data channel 10)

TPDO10

 1728 0x6C0

RPDO10

 1984 0x7C0

SDO1

(Parameter data channel 1)

TSDO1

 1408 0x580

RSDO1

 1536 0x600

Node guarding  1792 0x700

1 2 ... 26 27 28 29 30 31 32 33 34 35 36 ... 109 110

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Lenze CANopen Controller-based Automation Manual de usuario Pagina 31

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