Lenze I/O system 1000 - Page 98

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 98
5 CANopen communication
5.3 Transmitting process data
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Process data objects for output data
COB-IDs can be changed as follows:
The COB-ID is set via a 32 bit value.
Example: A COB-ID value of 182 is to be set
1. Enter the COB-ID value and bit 31 = 1.
0x80000182
2. Bit 31 = 0
0x00000182
The PDO is activated with a new identifier. The changes will be accepted in the Pre-Operational or
Operational status.
Bit 0 ... 11 Bit 12 ... 29 Bit 30 Bit 31
COB-ID Reserved RTR allowed PDO not valid: 1
PDO valid: 0
Index Possible settings Info
Settings for TxPDO 1 ...
I-1800/1 385 2047 COB-ID used by TxPDO 1
• Defining the individual identifiers for process
data object 1
• Lenze setting: 384 + node ID
I-1800/2 Transmission type
• Defining the transmission mode.
• Lenze setting: 255
0 Function deactivated The output data is accepted when the sync telegram
is transmitted.
1 ... 240 Process data transfer after
sync no. 1
...
Process data transfer
according to sync no. 240
The output data is accepted after the set number of
sync telegrams (1 ... 240) has been transmitted.
254 Time-controlled process data
transfer
Only if a cycle time is set in I-1800/5.
255 Event-controlled process
data transfer
Event-controlled process
data transfer with cyclic
overlay
Only if a cycle time is set in I-1800/5.
I-1800/3 0 ms 65535 Inhibit time
• Lenze setting: 0 ms
I-1800/5 0 ms 65535 Event time (cycle time)
• Lenze setting: 100 ms
... TxPDO 10
I-1809/1 385 2047 COB-ID used by TxPDO 10
• Defining the individual identifiers for process
data object 1
• Lenze setting: 1728 + node ID