Lenze 9400 - Manual (Page 359)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
359
9 "CAN on board" system bus
9.10 Implemented CANopen objects | I-1800
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I-1800
Communication parameter for sending process data via TPDO1
[9-27] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Index:
I-1800
Name:
TPDO1 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 TPDO 0x180 + node ID 0 4294967295 rw U32
2: transmission type 254 0 255 rw U8
3: inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: reserved - - (reserved, read or write access leads to error message
0x06090011)
rw U8
5: event timer 0 ms 0 ms 65535 rw U16
Subindex Meaning Lenze code
1 TPDO1 identifier
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x180 + node ID
C00320/1
2 TPDO transmission type according to DS301 V4.02
 Transmission type ( 308)
C00322/1
3 Minimum time between sending two identical TPDOs
(see DS301 V4.02).
C00324/1
5 Cycle time for PDO transmission with transmission type
"254".
C00356/1
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
Bit Setting
Bit 30 0 RTR to this PDO possible (Lenze).
1 RTR to this PDO not possible (not adjustable)
Bit 31 0 PDO active
1 PDO inactive