Lenze 2175 - 6 Parameter Setting; 6.3 Process Data Channel; 6.4 Implemented CANopen Objects

Contents
iii
L BA2175 EN 2.0
6 Parameter setting 6-1......................................................
6.1 Structure of a CAN data telegram 6-2.....................................................
6.1.1 Identifiers 6-2...............................................................
6.1.2 Network management (NMT) 6-3.................................................
6.1.2.1 Node/life guarding 6-4...............................................
6.2 Parameter data channel 6-5............................................................
6.2.1 Structure of a parameter data telegram 6-7.........................................
6.2.2 Examples 6-10...............................................................
6.2.2.1 Parameter reading 6-10...............................................
6.2.3 Write parameter 6-11..........................................................
6.2.4 Read block parameters 6-12.....................................................
6.3 Process data channel 6-13..............................................................
6.3.1 Setpoint source selection 6-13....................................................
6.3.2 Process data transfer 6-14.......................................................
6.3.3 Process-data assignments for 82XX 6-16............................................
6.3.4 Process-data assignment for 8200 vector 6-18........................................
6.3.4.1 Control word for 82XX and 8200 vector 6-20................................
6.3.4.2 Status word for 82XX and 8200 vector 6-21................................
6.3.5 Process-data assignment for 93XX 6-22.............................................
6.3.5.1 Control word for 93XX 6-23............................................
6.3.5.2 Status word for 93XX 6-26.............................................
6.4 Implemented CANopen objects 6-28.......................................................
6.4.1 Description of implemented objects 6-30............................................
6.4.1.1 1000hex: Device type 6-30.............................................
6.4.1.2 1001hex: Error register 6-30............................................
6.4.1.3 1003hex: Pre-defined error field 6-30.....................................
6.4.1.4 1005hex: Identifier sync message 6-31....................................
6.4.1.5 1006hex: Communication cycle period 6-31................................
6.4.1.6 1008hex: Manufacturer’s device name 6-31................................
6.4.1.7 100Ahex: Manufacturer’s software version 6-32.............................
6.4.1.8 100Chex: Guard time 6-32.............................................
6.4.1.9 100Dhex: Life time factor 6-32..........................................
6.4.1.10 1010h ex: Store parameters 6-32.........................................
6.4.1.11 1011hex: Restore default parameters 6-33.................................
6.4.1.12 1014h ex: COB-ID emergency object 6-35..................................
6.4.1.13 1015h ex: Inhibit time emergency 6-35....................................
6.4.1.14 1018hex: Identity object 6-35...........................................
6.4.1.15 1200h ex / 1201hex: Server SDO parameters 6-36............................
6.4.1.16 1400h ex: Receive PDO1 communication parameter 6-37.......................
6.4.1.17 1401h ex: Receive PDO2* communication parameter 6-37......................
6.4.1.18 1402h ex: Receive PDO3* communication parameter 6-38......................
6.4.1.19 1600h ex: Receive PDO1 mapping parameter 6-39............................
6.4.1.20 1601h ex: Receive PDO2* mapping parameter 6-39...........................
6.4.1.21 1602h ex: Receive PDO3* mapping parameter 6-40...........................
6.4.1.22 1800h ex: Transmit PDO1 parameter 6-41..................................
6.4.1.23 1801h ex: Transmit PDO2* parameter 6-41..................................
6.4.1.24 1802h ex: Transmit PDO3* parameter 6-41..................................
6.4.1.25 1A00h ex: Transmit PDO1 mapping parameter 6-42...........................
6.4.1.26 1A01h ex: Transmit PDO2* mapping parameter 6-42...........................
6.4.1.27 1A02h ex: Transmit PDO3* mapping parameter 6-43...........................
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