Lenze 8400 BaseLine C - Page 177

Lenze · 8400 BaseLine C · Reference manual · DMS 1.6 EN · 01/2014 · TD05 177
9 System bus "CAN on board"
9.4 Structure of the CAN data telegram
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Identifier assignment
The system bus is message-oriented instead of node-oriented. Every message has an unambiguous
identification, the identifier. For CANopen, node-oriented transfer is achieved by the fact that every
message has only one transmitter.
• The basic identifiers for network management (NMT) and sync as well as the basic SDO channel
(SDO1) are defined in the CANopen protocol and cannot be changed.
• In the Lenze setting, the basic identifiers of the PDOs are preset according to the "Predefined
connection set" of DS301, V4.02 and can be changed via parameters/indexes if required.
Identifiers of the process data objects
( 189)
1) If you set the sync transmit/receive identifier manually, observe the use of the emergency telegram, since it has the same
COB-ID.
Object Direction Lenze-Base-ID CANopen-Base-ID
from device to device dec hex dec hex
Network management (NMT) 0 0 0 0
Sync
1)
128 80 128 80
Emergency
1)
 128 80 128 80
PDO1
(Process data channel 1)
TPDO1
 384 180 384 180
RPDO1
 512 200 512 200
PDO2
(Process data channel 2)
TPDO2
 640 280 640 280
RPDO2
 641 281 768 300
SDO1
(Parameter data channel 1)
TSDO1
 1408 580 1408 580
RSDO1
 1536 600 1536 600
SDO2
(Parameter data channel 2)
TSDO2
 1472 5C0 1472 5C0
RSDO2
 1600 640 1600 640
Heartbeat  1792 700 1792 700
Boot-up  1792 700 1792 700