Lenze 2175 - Implemented Canopen Objects

CANopen
6 Parameter setting
6-28
L
BA2175 EN 2.0
6.4 Implemented CANopen objects
Lenze controllers can be parameterised with Lenze codes (see (^ 6-43) ) and
manufacturer-independent “CANopen objects”. A completely CANopen-conform
communication
can only be achieved by using CANopen objects for parameter setting. All CANopen objects
described in these Instructions are defined according to the “CiA Draft Standard 301/Version 4.01”.
All CANopen objects can also be mapped by Lenze codes. The section “CANopen relation”
describes how a change of CANopen objects influences Lenze codes.
Tip!
Some of the terminology used here derives from the CANopen protocol.
Abbreviations
Authorisation
rw Write-read authorisation
wo Write-only authorisation
ro Read-only authorisation
const Read-only authorisation, constant value
Data type (see below)
U32 Unsigned integer 4 byte (= 32 bit)
U16 Unsigned integer 2 byte (= 16 bit)
U8 Unsigned integer 1 byte (= 8 bit)
Visible string {length} Character string with indicated {length}
Overview
Index [hex] Subindex
[hex]
Name Data type Authoris ation
1000 0 Device type U32 ro
1001 0 Error register U8 ro
1
0
0
3
0 Recording numbers of error U8 rw
1
0
0
3
1 Standard error field U32 r0
1005 0 Identifier sync message U32 rw
1006 0 Communication cycle period U32 rw
1008 0 Manufacturer device name Visible string
{9 characters}
const
100A 0 Manufacturer software version Vis. string
{11 characters}
const
100C 0 Guard time U16 rw
100D 0 Life time factor U8 rw
1010 0 ... 3 Store parameters U32 ro/rw
1011 0 ... 3 Restore default parameters U32 rw/ro
1014 0 COB-ID emergency object U32 rw
1015 0 Inhibit time emergency U16 rw
1018 0 ... 3 Identity object Identity ro
1200/1201 0
1
2
Server SDO parameter
Identifier client
→ Server (rx)
Identifier server
→ Client (tx)
SDO param ro
1400
Receive PDO1 communication parameter
PDO comm.
1
4
0
0
0 Number of entries
P
D
O
c
o
m
m
.
ro
1 COB-ID used by PDO rw
2 Transmission type rw
1401
Receive PDO2* parameter
PDO comm.
1
4
0
1
0 Number of entries
P
D
O
c
o
m
m
.
ro
1 COB-ID used by PDO rw
2 Transmission type rw
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.actechdrives.com - Email: info@actechdrives.com
Show/Hide Bookmarks