Lenze 9400 Manual de usuario descargar pdf (Pagina 307)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06 307

9 "CAN on board" system bus

9.6 Process data transfer

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

9.6.1 Identifiers of the process data objects

The identifiers for the process data objects PDO1 ... PDO4 in the Lenze setting result from the basic

identifier and the node address set in C00350

.

Identifier (COB-ID) = basic identifier + node address (node ID)

• The basic identifiers of the PDOs are preset in the Lenze setting according to the "Predefined

Connection Set" of DS301 V4.02.

• The identifiers for the PDOs can be set individually via the Lenze codes and CANopen indexes

listed in the following table. Thus, you can also set an identifier independent of the node

address for certain PDOs.

 Tip!

The "Predefined Connection Set" can be re-established anytime using the following device

commands (C00002

):

• "93: CAN on board: Pred.Connect.Set" for CAN on board

• "94: CAN module: Pred.Connect.Set" for E94AYCCA communication module

Process data object Basic identifier Individual setting

dec hex Lenze code CANopen index

PDO1

RPDO1 512 0x200 C00321/1

I-1400/1

TPDO1 384 0x180 C00320/1 I-1800/1

PDO2

RPDO2 768 0x300 C00321/2

I-1401/1

TPDO2 640 0x280 C00320/2 I-1801/1

PDO3

RPDO3 1024 0x400 C00321/3

I-1402/1

TPDO3 896 0x380 C00320/3 I-1802/1

PDO4

RPDO4 1280 0x500 C00321/4

I-1403/1

TPDO4 1152 0x480 C00320/4 I-1803/1

 Note!

After the node address (C00350) has changed and a subsequent CAN reset node, the

identifiers which result from the corresponding basic identifiers and the set node

address are automatically set again in the subcodes of C00320

and C00321.

1 2 ... 302 303 304 305 306 307 308 309 310 311 312 ... 953 954

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