Lenze E84DGFCC - Manual (Page 89)

EDS84DMOTCAN EN 3.0 - 11/2011
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89
Communication manual 8400 motec CANopen
Implemented CANopen objects
13 Implemented CANopen objects
Lenze devices can be parameterised with both Lenze codes and manufacturer-
independent "CANopen objects". Completely CANopen-compliant communication can
only be achieved by solely using CANopen objects for parameter setting. The CANopen
objects described in this chapter are defined in the CAN specification DS301 V4.02.
Many CANopen objects can be mapped to Lenze codes. The "Relationship to Lenze code"
column of the following table lists the Lenze codes used.
Overview of CANopen indexes and their relationship to Lenze codes

Note!
Some of the terms used here derive from the CANopen protocol.
CANopen object Relationship to Lenze
code
Index Subindex Name
I-1000 0 Device type -
I-1001 0 Error register -
I-1003 Predefined error field
0
Number of errors -
1 ... 10 Standard error field -
I-1005 0 COB-ID SYNC message C00367
C00368
I-1006 0 Communication cycle period C00369
I-1014 0 COB-ID EMCY -
I-1016 Consumer heartbeat time
0
Highest subindex supported -
1 Consumer heartbeat time C00385/1...n
C00386/1...n
I-1017 0 Producer heartbeat time C00381
I-1018 Identity object
0
Highest subindex supported -
1 Vendor ID -
2 Product code -
3 Revision number -
4 Serial number -
I-1200 SDO1 server parameter
0
Highest subindex supported -
1 COB-ID client −> server (rx) -
2 COB-ID server −> client (tx) -
I-1201 SDO2 server parameter C00366
0 Highest subindex supported
1 COB-ID client −> server (rx)
2 COB-ID server −> client (tx)