Lenze E94AYCCA - Manual (Page 173)

EDS94AYCCA EN 5.0 - 06/2012
L
173
E94AYCCA communication manual (CANopen®)
Implemented CANopen objects
I-1800 - TPDO1 communication parameter
Communication parameter for the transmission of process data via TPDO1
[14-17] 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 Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 5 - (only read access) 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, write or read access results in error
message 0x06090011)
rw U8
5: event timer 0 ms 0 ms 65535 rw U16
Subindex Meaning Lenze code
1 Identifier TPDO1
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x180 + node ID
C13320/1 / C14320/1
2 TPDO transmission type according to DS301, V4.02
 Transmission type ( 47)
C13322/1 / C14322/1
3 Minimum time between the transmission of two
identical TPDOs (see DS301, V4.02).
C13324/1 / C14324/1
5 Cycle time with which the PDOs are transmitted with the
transmission type "254".
C13356/1 / C14356/1
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 (cannot be set).
Bit 31 0 PDO active.
1 PDO inactive.