Lenze 8400 BaseLine C - Manual (Page 170)

9 System bus "CAN on board"
9.1 General information
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Lenze · 8400 BaseLine C · Reference manual · DMS 1.6 EN · 01/2014 · TD05
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9.1 General information
For many years, the system bus (CAN) based on the CANopen communication profile has been inte-
grated in Lenze controllers. Due to the lower number of data objects available, the functionality and
compatibility of the previous system bus are lower as compared to CANopen. For parameter setting,
two parameter data channels are always available to the user while CANopen provides only one ac-
tive parameter channel.
The system bus (CANopen) of the Inverter Drives 8400 is a further development of the system bus
(CAN) including the following properties:
• Full compatibility according to CANopen DS301, V4.02.
• Support of the "Heartbeat" NMT slave function (DS301, V4.02).
• Number of parameterisable server SDO channels:
• Max. 2 channels with 1 ... 8 bytes
• Due to the 2 server SDO channels, an address range of 1 ... 63 is provided.
• Number of parameterisable PDO channels:
• For device version "BaseLine C":
max. 2 Transmit-PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
max. 2 Receive-PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
• From device version "StateLine" onwards:
max. 3 Transmit-PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
max. 3 Receive-PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
• All PDO channels are functionally equivalent.
• Monitoring of the RPDOs for data reception
• Adjustable error response to ...
• physical CAN errors (frame, bit, ACK error)
• bus-stop, bus working
• absent PDOs
• Telegram counters for SDOs and PDOs
• Bus status diagnostics
• Boot-up telegram generation
• Emergency telegram generation
• Reset node telegram generation (in case of master configuration)
• Sync telegram generation and response to sync telegrams:
• Data transmission/reception
• Device-internal time base synchronisation
• Abort codes
• All CAN on board functions can be parameterised via codes
• Object directory (all mandatory functions, optional functions, indexes)