Lenze 9400 Manual de usuario descargar pdf (Pagina 294)

9 "CAN on board" system bus

9.1 General information

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Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

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9.1.1 General data and application conditions

9.1.2 Supported protocols

Range Values

Communication profile CANopen (DS301 V4.02)

Communication medium DIN ISO 11898

Network topology Line closed on both sides (e.g. termination by Sub-D plug, type EWZ0046)

Adjustable node addresses 1 ... 127

• Adjustable via DIP switch on the memory module (exception: memory

module MM1xx) or via code C00350

.

Max. number of nodes 127

Baud rate 10, 20, 50, 125, 250, 500, 800, 1000 kbit/s or automatic recognition

• Adjustable via DIP switch on the memory module (exception: memory

module MM1xx) or via code C00351

.

Process data • max. 4 TPDOs with 1 ... 8 bytes

• max. 4 RPDOs with 1 ... 8 bytes

Parameter data Max. 10 client and server SDO channels with 1 ... 8 bytes

Transfer mode for TPDOs • With change of data

• Time-controlled, 1 to x ms

• After the reception of 1 to 240 sync telegrams

Category Protocol

Standard PDO protocols PDO write

PDO read

SDO protocols SDO download

SDO download initiate

SDO download segment

SDO upload

SDO upload initiate

SDO upload segment

SDO abort transfer

SDO block download

SDO block download initiate

SDO block download end

SDO block upload

SDO block upload initiate

SDO block upload end

NMT protocols Start remote node (master and slave)

Stop remote node (slave)

Enter pre-operational (slave)

Reset node (slave and local device)

Reset communication (slave)

Monitoring protocols Node guarding (master and slave)

Heartbeat (heartbeat producer and heartbeat consumer)

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