9400 regenerative power supply module | Parameter setting
"CAN on board" system bus
General information
98 L EDS94ARNExxxx EN 2.3 - 06/2014
6.1 General information
For many years the system bus (CAN) based on the CANopen communication profile has
been integrated in Lenze controllers. Due to the lower number of data objects available,
the functionality and compatibility of the old system bus are lower as compared with
CANopen. For parameter setting, two parameter data channels are always available to the
user while CANopen provides only one active parameter data channel (along with the
possibility to establish further channels).
The system bus (CANopen) integrated in the Servo Drives 9400 has been developed from
the system bus (CAN) used in the controllers of the ”9300” series, and it has the following
features:
Full compatibility to CANopen DS301 V4.02.
Support of the NMT master/slave function "Node Guarding" (DS301 V4.02).
Support of the NMT slave function "Heartbeat" (DS301 V4.02).
No restrictions regarding the selection of node addresses.
Number of parameterisable server and client SDO channels:
– Max. 10 channels with 1 ... 8 bytes
Number of parameterisable PDO channels:
– Max. 4 transmit PDOs (TPDOs) with 1 ... 8 bytes
– Max. 4 receive PDOs (RPDOs) with 1 ... 8 bytes
All PDO channels are equivalent in terms of functionality.
Data reception monitoring of RPDOs
Telegram counters for SDOs and PDOs
Bus state diagnostics
Boot-up telegram generation
Emergency telegram generation
Reset-node telegram generation (for master configuration).
Sync telegram generation and response to sync telegrams:
– Sending/reception of data
– Synchronisation of the device's internal time base
Abort codes
Ability to parameterise all "CAN on board" functions via codes.
Object directory (all mandatory functions, optional functions, indexes)
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