Lenze 8400 - Manual (Page 638)

11 CANopen option
11.6 Structure of the CAN data telegram
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Lenze · 8400 protec HighLine · Reference manual · DMS 3.0 EN · 03/2013 · TD05
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Node address (node ID)
Every node of the system bus network must be assigned to a node address (also called node ID)
within the valid address range (1 ... 127) for unambiguous identification.
• Assigning a node address more than once within a network is impermissible.
• The own node address can be configured via the DIP switches or via code
C00350 .  Setting the
node address ( 634)
Identifier assignment
The system bus is message-oriented instead of node-oriented. Every message has an unambiguous
identification, the identifier. For CANopen, node-oriented transfer is achieved by the fact that every
message has only one transmitter.
• The basic identifiers for network management (NMT) and sync as well as the basic SDO channel
(SDO1) are defined in the CANopen protocol and cannot be changed.
• In the Lenze setting, the basic identifiers of the PDOs are preset according to the "Predefined
connection set" of DS301, V4.02 and can be changed via parameters/indexes if required.
 Identifiers of the process data objects ( 652)
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 1) 128 80 128 80
Emergency 1)
 128 80 128 80
PDO1
(Process data channel 1)
TPDO1  384 180 384 180
RPDO1  512 200 512 200
PDO2
(Process data channel 2)
TPDO2  640 280 640 280
RPDO2  641 281 768 300
PDO3
(Process data channel 3)
TPDO3  768 300 896 380
RPDO3  769 301 1024 400
SDO1
(Parameter data channel 1)
TSDO1  1408 580 1408 580
RSDO1  1536 600 1536 600
SDO2
(Parameter data channel 2)
TSDO2  1472 5C0 1472 5C0
RSDO2  1600 640 1600 640
Heartbeat  1792 700 1792 700
Boot-up  1792 700 1792 700