Lenze 8400 BaseLine C - Manual (Page 224)

Lenze · 8400 BaseLine C · Reference manual · DMS 1.6 EN · 01/2014 · TD05
224
9 System bus "CAN on board"
9.9 Implemented CANopen objects | I-1800
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I-1800
Communication parameter for sending process data via TPDO1
[9-23] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Index:
I-1800
Name:
TPDO1 communication parameter
Subindex Default setting Display range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by TPDO 0x180 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: Reserved - - (reserved, read or write access leads to error message
0x06090011)
rw U8
5: Event timer 0 ms 0 ms 65535 rw U16
Subindex Meaning Code
0 "5" is permanently set.
• Max. 5 subindicesare supported.
-
1 TPDO1 identifier
• According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x180 + node ID
C354/2
2 TPDO transmission type according to DS301 V4.02
 Transmission type ( 190)
C322/1
3 Minimum time between sending two identical TPDOs
(see DS301 V4.02).
-
5 Cycle time for PDO transmission with transmission type
"254".
C356/5
C369
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
Bit Setting
Bit 30 0 RTR to this PDO possible (Lenze).
1 RTR to this PDO not possible (not adjustable)
Bit 31 0 PDO active
1 PDO inactive