Lenze 9400 - Manual (Page 307)

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
307
9 "CAN on board" system bus
9.6 Process data transfer
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
9.6.1 Identifiers of the process data objects
The identifiers for the process data objects PDO1 ... PDO4 in the Lenze setting result from the basic
identifier and the node address set in C00350 .
Identifier (COB-ID) = basic identifier + node address (node ID)
• The basic identifiers of the PDOs are preset in the Lenze setting according to the "Predefined
Connection Set" of DS301 V4.02.
• The identifiers for the PDOs can be set individually via the Lenze codes and CANopen indexes
listed in the following table. Thus, you can also set an identifier independent of the node
address for certain PDOs.

Tip!
The "Predefined Connection Set" can be re-established anytime using the following device
commands ( C00002 ):
• "93: CAN on board: Pred.Connect.Set" for CAN on board
• "94: CAN module: Pred.Connect.Set" for E94AYCCA communication module
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!
After the node address ( C00350 ) has changed and a subsequent CAN reset node, the
identifiers which result from the corresponding basic identifiers and the set node
address are automatically set again in the subcodes of C00320 and C00321 .