Lenze E84DGFCC - Manual (Page 38)

Communication manual 8400 motec CANopen
Data transfer
Structure of the CAN data telegram
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EDS84DMOTCAN EN 3.0 - 11/2011
1) If you set the sync transmit/receive identifier manually, observe the use of the emergency telegram, since it has the same
COB-ID.
Object Direction Lenze-Base-ID CANopen-Base-ID
from device to device dec hex dec hex
Network management (NMT) 0 0 0 0
Sync 1) 128 80 128 80
Emergency 1)
z 128 80 128 80
PDO1
(Process data channel 1)
TPDO1 z 384 180 384 180
RPDO1 z 512 200 512 200
PDO2
(Process data channel 2)
TPDO2 z 640 280 640 280
RPDO2 z 641 281 768 300
SDO1
(Parameter data channel 1)
TSDO1 z 1408 580 1408 580
RSDO1 z 1536 600 1536 600
SDO2
(Parameter data channel 2)
TSDO2 z 1472 5C0 1472 5C0
RSDO2 z 1600 640 1600 640
Heartbeat z 1792 700 1792 700
Boot-up z 1792 700 1792 700