Lenze 8400 - Page 765

Lenze · 8400 HighLine · Reference manual · DMS 12.0 EN · 06/2017 · TD23 765
11 System bus "CAN on board"
11.11 CANopen objects implemented | I-1400
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I-1400
Communication parameter for receiving process data via RPDO1
[11-11] 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").
Description of subindex 1
[11-12] I-1400 ... I-1402, subindex 1
Index:
I-1400
Name:
RPDO1 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 0x200 + 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 leads to error message
0x06090011)
rw U8
5: Event timer - - (not used for RPDOs) rw U16
Subindex Meaning Code
0 "5" is permanently set.
• Max. 5 subindices are supported.
-
1 RPDO1 identifier
• According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x200 + node ID
C00354/1
2 RPDO Transmission type according to DS301 V4.02
Transmission type
( 731)
C00323/1
8th byte 7th byte 6. 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. Bit11...bit29 must be set to "0".
Bit no. Value Explanation
0 ... 10 0/1 11-bit identifier
(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".
29* 0
30 0 RTR to this PDO possible (cannot be set)
1 RTR to this PDO not possible (Lenze)
31 0 PDO active
1 PDO not active