Lenze 2175 - Page 81

CANopen
6 Parameter setting
6-53
L BA2175 EN 2.0
C
o
d
e
I
n
d
e
x
Possible settings
Code
Subcode
Inde
x
Lenze Selection Data type
L-C1873
/1 CAN-IN1
58AE
h
= 22702
d
1 1 [1] 240
FIX32
L-C2373
/
1
C
A
N
I
N
1
/2* CAN-IN2
/3* CAN-IN3
56BA
h
= 22202
d
FIX32
*) not e f f e ctive when using 82XX, 8200 vector and 93XX controllers
Example:
Selectionn = 23. Acceptance of input PDOs(to CAN-IN1... CAN-IN3)by the controller after the 23rd
sync telegram has been received.
The sync rate can be individually set for every input PDO.
Note!
Only sync telegrams with the identifier set under L-C1867 / L-C2367 count as received telegrams.
A sync rate change becomes effective immediately.
CANopen relation
The CANopen index 1400
h
, 1401
h
and 1402
h
(receive PDO communication parameter) with
subindex 2 (transmission type) are directly mapped to the subcodes of code L-C1873 / L-C2373.
Index 1400
h
, subindex 2 Code L-C1873 and L-C2373, subcode 1
Index 1401
h
, subindex 2
=
Code L-C1873 and L-C2373, subcode 2
Index 1402
h
, subindex 2 Code L-C1873 and L-C2373, subcode 3
If, for instance, index 1402
h
is read, the response value comes from code L-C1873 or L-C2373
subcode 3. If a new value is written to index 1401
h
also code L-C1873 or L-C2373, subcode 2 will
be overwritten with this value.
6.5.2.16 L-C1874/L-C2374: Sync rate CAN-OUT1 ... CAN-OUT3
C
o
d
e
I
n
d
e
x
Possible settings
Code
Subcode
Inde
x
Lenze Selection Data type
L-C1874
/1 = CAN-OUT1
/
2
*
=
C
A
N
-
O
U
T
2
58AD
h
= 22701
d
1 1 [1] 240
FIX32
L-C2374
/
2
*
=
C
A
N
-
O
U
T
2
/3* = CAN-OUT3
56B9
h
= 22201
d
FIX32
*) not e f f e ctive when using 82XX, 8200 vector and 93XX controllers
The output process data (CAN-OUTx) will only be sent to the controller when a certain number of
SYNC telegrams has received.
The sync rate can be individually set for every output PDO.
Note!
Only sync telegrams with the identifier set under L-C1867 / L-C2367 count as received telegrams.
A sync rate change becomes effective immediately.
CANopen relation
The CANopen index “transmit PDO communication parameter” 1800
h
, 1801
h
and 1802
h
(with
subindex 2, “transmission type” ) are directly written to the subcodes of codes L-C1874 and
L-C2374.
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