Lenze E94AYCCA - Manual (Page 46)

E94AYCCA communication manual (CANopen®)
Process data transfer
Identifiers of the process data objects
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EDS94AYCCA EN 5.0 - 06/2012
8.1 Identifiers of the process data objects
In the Lenze setting, the identifier for the process data objects PDO1 ... PDO4 results from
a basic identifier and the node address set in C13350 / C14350 :
Identifier (COB-ID) = basic identifier + node address (node ID)
 In the Lenze setting, the basic identifiers of the PDOs are preset according to the
"Predefined Connection Set" of DS301, V4.02.
 The identifiers for the PDOs can be set individually via the Lenze codes and CANopen
indexes listed in the following table. Thus, you can also set an identifier independently
of the node address for certain PDOs.

Tip!
The "Predefined Connection Set" can be re-established anytime using the following
device commands of C00002:
• "93: CAN on board: Pred.Connect.Set" for CAN on board
• "94: CAN module: Pred.Connect.Set" for communication module E94AYCCA
Process data object Basic identifier Individual setting
dec hex Lenze code CANopen index
PDO1 RPDO1 512 0x200 C13321/1
C14321/1
I-1400/1
TPDO1 384 0x180 C13320/1
C14320/1
I-1800/1
PDO2 RPDO2 768 0x300 C13321/2
C14321/2
I-1401/1
TPDO2 640 0x280 C13320/2
C14320/2
I-1801/1
PDO3 RPDO3 1024 0x400 C13321/3
C14321/3
I-1402/1
TPDO3 896 0x380 C13320/3
C14320/3
I-1802/1
PDO4 RPDO4 1280 0x500 C13321/4
C14321/4
I-1403/1
TPDO4 1152 0x480 C13320/4
C14320/4
I-1803/1

Note!
When the node address has been changed ( C13350 / C14350 ) and then "Reset
node" (C00002 = 92) has been executed, the subcodes of C13320 / C14320 and
C13321 / C14321 are automatically reset to the identifiers resulting from the
respective basic identifier and the node address set.