Lenze i510 - Canopen Service Data Objects

Parameter Name / value range / [default seng] Info
0x1A01:004 TPDO2 mapping parameter: Entry 4
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 4 for TPDO2.
0x1A01:005 TPDO2 mapping parameter: Entry 5
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 5 for TPDO2.
0x1A01:006 TPDO2 mapping parameter: Entry 6
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 6 for TPDO2.
0x1A01:007 TPDO2 mapping parameter: Entry 7
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 7 for TPDO2.
0x1A01:008 TPDO2 mapping parameter: Entry 8
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 8 for TPDO2.
0x1A02:000 TPDO3 mapping parameter: Highest subindex
0 ... [0] ... 8
Number of objects mapped in TPDO3.
0x1A02:001 TPDO3 mapping parameter: Entry 1
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 1 for TPDO3.
0x1A02:002 TPDO3 mapping parameter: Entry 2
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 2 for TPDO3.
0x1A02:003 TPDO3 mapping parameter: Entry 3
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 3 for TPDO3.
0x1A02:004 TPDO3 mapping parameter: Entry 4
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 4 for TPDO3.
0x1A02:005 TPDO3 mapping parameter: Entry 5
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 5 for TPDO3.
0x1A02:006 TPDO3 mapping parameter: Entry 6
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 6 for TPDO3.
0x1A02:007 TPDO3 mapping parameter: Entry 7
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 7 for TPDO3.
0x1A02:008 TPDO3 mapping parameter: Entry 8
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 8 for TPDO3.
8.4.10 CANopen service data objects
Service data objects (SDOs) make it possible to read and write all parameters of the inverter
via CANopen.
Details
•
T
w
o independen
t SDO channels ar
e pr
ovided at the same me. SDO channel 1 is always
acve. SDO channel 2 can be acvated via 0x2301:005 (PAR 510/005).
•
The ideners for SDO1 and SDO2 are generated from the basic idener (in compliance
with the "Predened
Connecon Set") and the node address set.
•
An SDO is always transmied with conrmaon, i. e. the recepon of an SDO frame is
acknowledged by the receiver.
Structure of the SDO frame user data
The user data are shown in Motorola format:
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
See table below. LOW byte HIGH byte LOW word HIGH word
Address of the parameter to be read or wrien. LOW byte HIGH byte LOW byte HIGH byte
The following commands can be transmied or received for wring and reading the parame-
ters:
Command 1st byte Data length Info
hex dec
Write request 0x23 35 4 bytes Wring of a parameter to the inverter.
0x2B 43 2 bytes
0x2F 47 1 byte
0x21 33 Block
Write response 0x60 96 4 bytes Inverter acknowledges a write request.
Read request 0x40 64 4 bytes Reading of a parameter from the inverter.
Conguring the network
CANopen
CANopen service data objects
122
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