9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
Process data transfer
112 L EDS94ARNExxxx EN 2.3 - 06/2014
6.6.1 Process data object identifiers
In the Lenze setting, the identifier for the process data objects PDO1 ... PDO4 consists of a
basic identifier and the node address set in C00350
:
Identifier (COB-ID) = basic identifier + node address (node ID)
In the Lenze setting, the basic identifiers of the PDOs are preset according to the
"Predefined Connection Set" of DS301 V4.02.
The PDO identifier settings can be changed via the Lenze codes and CANopen indexes
listed in the following table. In this way, you can also set an identifier independent of
the node address for certain PDOs.
Tip!
The "Predefined Connection Set" can always be restored via the following device
commands (C00002
):
• "93: CAN on-board: Pred.Connect.Set" for on-board CAN
• "94: CAN module: Pred.Connect.Set" for communication module E94AYCCA
Process data object Basic identifier Individual setting
dec hex Lenze code CANopen index
PDO1
RPDO1 512 0x200 C00321/1
I-1400/1
TPDO1 384 0x180 C00320/1 I-1800/1
PDO2
RPDO2 768 0x300 C00321/2
I-1401/1
TPDO2 640 0x280 C00320/2 I-1801/1
PDO3
RPDO3 1024 0x400 C00321/3
I-1402/1
TPDO3 896 0x380 C00320/3 I-1802/1
PDO4
RPDO4 1280 0x500 C00321/4
I-1403/1
TPDO4 1152 0x480 C00320/4 I-1803/1
Note!
When the node address has been changed (C00350) and CAN reset node is
executed subsequently, the subcodes of C00320
and C00321 are automatically
set to the identifiers resulting from the respective basic identifier and the node
address set.
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