Lenze L-force Communication 8400 motec Series - Page 100

Communication manual 8400 motec CANopen
Implemented CANopen objects
100 L EDS84DMOTCAN EN 3.0 - 11/2011
Description of subindex 2
[13-13] I-1400 / I-1401, subindex 2
I-1401 - RPDO2 communication parameter
Communication parameters for receiving process data via RPDO2
For data telegram assignment and description of subindexes 1 and 2, see object I-1400
.
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
PDO transmission Transmission type Explanation
cyclic synchronous event-controlled
zz n = 1 ... 240 When a value n is entered, this PDO
will be accepted with every nth sync.
z n = 254 PDO will be accepted immediately.
Index:
I-1401
Name:
RPDO2 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by RPDO 0x300 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time - - (not used for RPDOs) rw U16
4: Compatibility entry - - (reserved, read or write access results in error
message 0x06090011)
rw U8
5: Event timer - - (not used for RPDOs) rw U16
Subindex Meaning Code
0 The value 5 is permanently set.
• Max. 5 subindexesare supported.
-
1 RPDO2 identifier
• According to the "Predefined Connection Set", the
basic setting is: identifier = 0x300 + node ID
C00354/3
2 RPDO transmission type according to DS301 V4.02
Transmission type
( 52)
C00323/2