Lenze 8400 StateLine - Manual (Page 497)

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14
497
11 System bus "CAN on board"
11.6 Structure of the CAN data telegram
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
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 ( 493)
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 the basic SDO channel (SDO1) are
defined in the CANopen protocol and cannot be changed.
• The basic identifiers of the PDOs are preset in the Lenze setting according to the "Predefined
Connection Set" of DS301 V4.02.

Tip!
If required, the identifiers of the PDOs and the identifiers for the sync telegram can be
changed via parameters/indices.
 Identifiers of the process data objects ( 517)
 PDO synchronisation via sync telegram ( 521)
The active identifiers fo the PDOs are displayed in C00355/x .
Communication object Basis identifier (CANBaseID) Direction
Network management (NMT) 0 0x0000
Sync 1) 128 0x0080
Emergency 1) 128 0x0080 Device  system bus
PDO1
(Process data channel 1)
TPDO1 384 0x0180 Device  system bus
RPDO1 512 0x0200 System bus  device
PDO2
(Process data channel 2)
TPDO2 640 0x0280 Device  system bus
RPDO2 768 0x0300 System bus  device
PDO3
(Process data channel 3)
TPDO3 896 0x0380 Device  system bus
RPDO3 1024 0x0400 System bus  device
PDO4 2)
(Process data channel 4)
TPDO4 1152 0x0480 Device  system bus
RPDO4 1280 0x0500 System bus  device
SDO1
(Parameter data channel 1)
TSDO1 1408 0x0580 Device  system bus
RSDO1 1536 0x0600 System bus  device
SDO2
(Parameter data channel 2)
TSDO2 1472 0x05C0 Device  system bus
RSDO2 1600 0x0640 System bus  device
Heartbeat 1792 0x0700 Device  system bus
Boot-up 1792 0x0700 Device  system bus
1) If you set the sync identifiers manually, observe the use of the emergency telegram, since it has the same COB-ID.
2) From version 15.00.00