Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 26)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Drive initialisation
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L
EDS94TA11010xxxx EN 1.2 - 03/2010
3.4.2 Example of a typical drive initialisation for CANopen
Basic conditions
 The communication takes place via the system bus (CANopen).
 The controller is assigned device address "1".
 The PDO1-Rx to the controller contains the following objects:
– 0x6040 : Controlword
– 0x60C1/1 : Interpolation data record/X1
 The PDO1-Tx from the controller contains the following objects:
– 0x6041 : Statusword
– 0x6064 : Position actual value
 The " Interpolated position mode " operating mode is selected.
 The synchronisation of the Servo Drive 9400 must be set via code C01120 (sync source).
 The cycle time of the sync data transmission of the Servo Drive 9400 must be set via
code C01121 (sync cycle time).
Sequence

Detailed information on CANopen is provided in the Lenze library in the "CAN"
communication manual.
Communication service Object Value Information
Change of the communication status
NMT
- - Switch drive to the PREOPERATIONAL
communication status.
Drive identification
SDO read request
0x1000 - Check if the drive supports the CiA402 Canopen
device profile.
SDO read request 0x1018/1 - Manufacturer's identification mark
SDO read request 0x1018/2 - Product identification
SDO read request 0x1018/3 - Revision number
SDO read request 0x1008 - Manufacturer's device name
Initialisation of communication profile objects
SDO read request
0x1010 Manufacturer's software version
SDO write request 0x1005 0x80 Set COB-ID for the SYNC telegram.
SDO write request 0x1014 0x81 Set COB-ID for the EMCY telegram.
PDO mapping
SDO write request
0x1800/1 0x181 Set COB-ID for the transmit process data (PDO1-Tx).
SDO write request 0x1800/2 1 Set transmission mode for the transmit process data
(PDO1-Tx): synchronously for each SYNC telegram.
SDO write request 0x1400/1 0x201 Set COB-ID for the receipt process data (PDO1-Rx).
SDO write request 0x1400/2 1 Set transmission mode for the receipt process data
(PDO1-Rx): synchronously for each SYNC telegram.