Lenze 8400 motec Series - TPDO Communication and Mapping Parameters

Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019 97
Implemented CANopen objects
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
[13-14] Data telegram assignment
IEC 61131 process data words are mapped. Only whole bytes can be mapped (1 byte/mapping
entry).
I-1601 - RPDO2 mapping parameter
Object I-1601 serves to receive parameter data as RPDO2.
This object relates to code C00409/5...8
.
For assignment of the data telegram see object I-1600
.
I-1800 - TPDO1 communication parameter
Communication parameters for sending process data via TPDO1
Subindex Meaning
0 Number of mapped objects
1 ... 4 Mapping entries 1 ... 4 for RPDO1
• The 4th mapping entry is used for the static mapping. For this, no value is
available.
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit31...bit16 Bit15...bit8
Bit 7 ... bit 0
Index Subindex Length
Index:
I-1601
Name:
RPDO2 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
Subindex Meaning
0 Number of mapped objects
1 ... 4 Mapping entries 1 ... 4 for RPDO2
• The 4th mapping entry is used for the static mapping. For this, no value is
available.
Index:
I-1800
Name:
TPDO1 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 TPDO 0x180 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: Reserved - - (reserved, read or write access results in error
message 0x06090011)
rw U8
5: Event timer 0 ms 0 ms 65535 rw U16