Lenze L-force 9400 Series

EDS94ARNExxxx EN 2.3 - 06/2014 L 105
9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Structure of the CAN data telegram
Node address (node ID)
Each node of the system bus network must be assigned a node address (also called "node
ID") within the valid address range (1 ... 127) for unique identification.
 A node address may not be assigned more than once within a network.
 The own node address of a device can be configured via the DIP switches of the memory
module or via code C00350
. Setting the node address ( 101)
Identifier assignment
The system bus is message-oriented. Every message has a unique identifier. For CANopen,
node-oriented communication is achieved by the fact that there is only one sender for
every message.
 The basic identifiers for network management (NMT) and sync as well as the basic SDO
channel (SDO1) are defined in the CANopen protocol and cannot be changed.
 In the Lenze setting, the basic identifiers of the PDOs are preset according to the
"Predefined Connection Set" of DS301 V4.02. They can be changed, if required, via the
parameters/indexes. Process data object identifiers
( 112)
Object Direction Basic identifier
From the device To the device dec hex
Network management (NMT) 0 0
Sync 128 80
Emergency  128 80
PDO1
(process data channel 1)
TPDO1
 384 180
RPDO1
 512 200
PDO2
(process data channel 2)
TPDO2
 640 280
RPDO2
 768 300
PDO3
(process data channel 3)
TPDO3
 896 380
RPDO3
 1024 400
PDO4
(process data channel 4)
TPDO4
 1152 480
RPDO4
 1280 500
SDO1
(basic SDO channel)
 1408 580
 1536 600
SDO2 ... SDO10
(parameter data channels 2 ... 10)
 1472 5C0
 1600 640
Node guarding, heartbeat  1792 700