Lenze 8400 - Page 709

Lenze · 8400 HighLine · Reference manual · DMS 12.0 EN · 06/2017 · TD23 709
11 System bus "CAN on board"
11.6 Structure of the CAN data telegram
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Node address (node ID)
Every node of the system bus network must be assigned to a node address (also called node ID)
within the valid address range (1 ... 127) for unambiguous identification.
• Assigning a node address more than once within a network is impermissible.
• The own node address can be configured via the DIP switches or via code C00350
. Setting the
node address ( 705)
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 the basic SDO channel (SDO1) are
defined in the CANopen protocol and cannot be changed.
• The basic identifiers of the PDOs are preset in the Lenze setting according to the "Predefined
Connection Set" of DS301 V4.02.
 Tip!
If required, the identifiers of the PDOs and the identifiers for the sync telegram can be
changed via parameters/indices.
Identifiers of the process data objects
( 729)
Synchronisation of PDOs via sync telegram
( 733)
The active identifiers of the PDOs are displayed in C00355/x
.
Object Basis identifier (CANBaseID) Direction
Network management (NMT) 0 0x0000
Sync
1)
128 0x0080
Emergency
1)
128 0x0080 Device  system bus
PDO1
(Process data channel 1)
TPDO1
384 0x0180 Device  system bus
RPDO1
512 0x0200 System bus  device
PDO2
(Process data channel 2)
TPDO2
640 0x280 Device  system bus
RPDO2
768 0x300 System bus  device
PDO3
(Process data channel 3)
TPDO3
896 0x380 Device  system bus
RPDO3
1024 0x400 System bus  device
PDO4
2)
(Process data channel 4)
TPDO4
1152 0x480 Device  system bus
RPDO4
1280 0x500 System bus  device
SDO1
(Parameter data channel 1)
TSDO1
1408 0x0580 Device  system bus
RSDO1
1536 0x0600 System bus  device
SDO2
(Parameter data channel 2)
TSDO2
1472 0x05C0 Device  system bus
RSDO2
1600 0x0640 System bus  device
Heartbeat 1792 0x0700 Device  system bus
Boot-up 1792 0x0700 Device  system bus
1)
If you set the sync identifiers manually, observe the use of the emergency telegram, since it has the same COB-ID.
2)
From version 15.00.00