Lenze E94AYCCA - Manual (Page 57)

EDS94AYCCA EN 5.0 - 06/2012
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E94AYCCA communication manual (CANopen®)
Process data transfer
PDO mapping
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Implementing PDO mapping with the »Engineer«
Example
A project to be created in the »Engineer« consists of a master drive (master) and a
slave drive (slave). Among other things, for instance PDOs are to be exchanged
between the two drives via the system bus (CANopen). In the following, the
parameterisation of the master drive is described.
1. On the Process data objects tab, the parameters for the receive objects
(RPDO1 ... RPDO4) and transmit objects (TPDO1 ... TPDO4) can be set.
Settings for receive objects (RPDO1 ... RPDO4)
Transfer mode of RPDOx ( C13323/1...4 / C14323/1...4 )
Monitoring time for RPDOx ( C13357/1...4 / C14357/1...4 )
• If a different value than "0" is entered, the RPDO is expected after the time set
has elapsed.
• If the RPDO is not received within the monitoring time, an error response
parameterised under C13591/1...4 / C14591/1...4 is initiated.
The inhibit time is not relevant for receive objects.
Display/setting of the RPDOx COB-ID ( C13321/1...4 / C14321/1...4 )