Lenze 8400 motec Series - Page 99

Implemented CANopen objects
98 Lenze · Decentralised frequency inverter 8400 motec (CANopen option) · EDS84DMOTCAN EN 4.0 - 02/2019
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[13-15] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Subindex 2 - transmission type
Subindex 3 - inhibit time
Subindex Meaning Code
0 The value 5 is permanently set.
• Max. 5 subindexesare supported.
-
1 TPDO1 identifier
• According to the "Predefined Connection Set", the
basic setting is: identifier = 0x180 + node ID
C00354/2
2 TPDO transmission type according to DS301 V4.02
Transmission type
( 49)
C00322/1
3 Minimum time between sending two identical TPDOs
(see DS301 V4.02).
-
5 Cycle time for PDO transmission with transmission type
"254".
C00356/5
C00369
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".
Bit setting
Bit 30 0 RTR to this PDO permissible (Lenze).
1 RTR to this PDO not permissible (cannot be set).
Bit 31 0 PDO active
1PDO inactive
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 Event-controlled or cyclic
 Note!
The delay time can only be changed when the PDO is not active (see subindex 1,
bit31=1).