Lenze 8400 motec Series - Page 97

Implemented CANopen objects
96 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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Description of subindex 2
[13-13] I-1400 / I-1401, subindex 2
I-1401 - RPDO2 communication parameter
Communication parameters for receiving process data via RPDO2
For data telegram assignment and description of subindexes 1 and 2, see object I-1400
.
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
I-1600 - RPDO1 mapping parameter
Object I-1600 serves to receive parameter data as RPDO1.
This object relates to code C00409/1...4
.
PDO transmission Transmission type Explanation
cyclic synchronous event-controlled
 n = 1 ... 240 When a value n is entered, this PDO
will be accepted with every nth sync.
 n = 254 PDO will be accepted immediately.
Index:
I-1401
Name:
RPDO2 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by RPDO 0x300 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time - - (not used for RPDOs) rw U16
4: Compatibility entry - - (reserved, read or write access results in error
message 0x06090011)
rw U8
5: Event timer - - (not used for RPDOs) rw U16
Subindex Meaning Code
0 The value 5 is permanently set.
• Max. 5 subindexesare supported.
-
1 RPDO2 identifier
• According to the "Predefined Connection Set", the
basic setting is: identifier = 0x300 + node ID
C00354/3
2 RPDO transmission type according to DS301 V4.02
Transmission type
( 49)
C00323/2
Index:
I-1600
Name:
RPDO1 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of mapped application
objects in PDO
00 8rwU8
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32