Lenze L-force Communication 8400 motec Series

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Communication manual 8400 motec CANopen

Data transfer

Structure of the CAN data telegram

38 L EDS84DMOTCAN EN 3.0 - 11/2011

1) If you set the sync transmit/receive identifier manually, observe the use of the emergency telegram, since it has the same

COB-ID.

Object Direction Lenze-Base-ID CANopen-Base-ID

from device to device dec hex dec hex

Network management (NMT) 0 0 0 0

Sync

128 80 128 80

Emergency

z 128 80 128 80

PDO1

(Process data channel 1)

TPDO1

z 384 180 384 180

RPDO1

z 512 200 512 200

PDO2

(Process data channel 2)

TPDO2

z 640 280 640 280

RPDO2

z 641 281 768 300

SDO1

(Parameter data channel 1)

TSDO1

z 1408 580 1408 580

RSDO1

z 1536 600 1536 600

SDO2

(Parameter data channel 2)

TSDO2

z 1472 5C0 1472 5C0

RSDO2

z 1600 640 1600 640

Heartbeat z 1792 700 1792 700

Boot-up z 1792 700 1792 700

Lenze L-force Communication 8400 motec Series - Page 38