Lenze 8400 StateLine - Manual (Page 541)

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14
541
11 System bus "CAN on board"
11.11 Implemented CANopen objects
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11.11 Implemented CANopen objects
Lenze devices can both be parameterised with Lenze codes and manufacturer-independent
"CANopen objects". A completely CANopen-compliant communication can only be achieved by
using CANopen objects for parameter setting. The CANopen objects described in this chapter are
defined in the CAN specification DS301 V4.02.
Many CANopen objects can be mapped on Lenze codes. In the following table, the corresponding
Lenze codes are listed in the column "Relationship to Lenze codes".
Overview of CANopen indices and their relationship to Lenze codes

Note!
Some of the terms used here derive from the CANopen protocol.
CANopen object Relationship to Lenze
code
Index Subindex Name
I-1000 0 Device type -
I-1001 0 Error register -
I-1003 Predefined error field
0
Number of errors -
1 ... 10 Standard error field -
I-1005 0 COB-ID SYNC message C00367
C00368
I-1006 0 Communication cycle period C00369
I-1014 0 COB-ID EMCY -
I-1016 Consumer heartbeat time
0
Highest subindex supported -
1 ... n Consumer heartbeat time
• "BaseLine C" version: n = 1
• "StateLine C" version: n = 7
• "HighLine C" version: n = 15
• "TopLine C" version: n = 15
C00385/1...n
C00386/1...n
I-1017 0 Producer heartbeat time C00381
I-1018 Identity object
0
Highest subindex supported -
1 Vendor ID -
2 Product code -
3 Revision number -
4 Serial number -
I-1200 SDO1 server parameter
0
Highest subindex supported -
1 COB-ID client −> server (rx) -
2 COB-ID server −> client (tx) -
I-1201 SDO2 server parameter
0
Highest subindex supported -
1 COB-ID client −> server (rx) -
2 COB-ID server −> client (tx) -