Lenze CANopen control technology - Manual (Page 32)

Control technology | CANopen communication manual
Planning the CANopen network
Device specifications of the field devices
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DMS 4.2 EN 07/2011 TD17
6.2.3 Special features for the I/O-System IP20 (EPM-Txxx)
 EPM T110 V1.2 has fixed parameter data channels, in CANopen mode as well.
 EPM T110 V1.3 has only one parameter data channel in CANopen mode.
Basic identifier - I/O system IP20 (EPM-Txxx)
The default setting of the basic identifier is as follows:
1) When creating the sync transmit/receive identifier manually, observe the use of the emergency telegram because of
the same COB-ID.
Object Direction Basic identifier
from the drive to the drive dec hex
NMT 0 0
Sync 1) 128 80
Emergency z 128 80
PDO1
(process data channel 1)
TPDO1 z 384 180
RPDO1 z 512 200
PDO2
(process data channel 2)
TPDO2 z 640 280
RPDO2 z 768 300
PDO3
(process data channel 3)
TPDO3 z 896 380
RPDO3 z 1024 400
PDO4
(process data channel 4)
TPDO4 z 1152 480
RPDO4 z 1280 500
PDO5
(process data channel 1)
TPDO5 z 1664 680
RPDO5 z 1920 780
PDO6
(process data channel 2)
TPDO6 z 448 1C0
RPDO6 z 576 240
PDO7
(process data channel 3)
TPDO7 z 704 2C0
RPDO7 z 832 340
PDO8
(process data channel 4)
TPDO8 z 960 3C0
RPDO8 z 1088 440
PDO9
(process data channel 1)
TPDO9 z 1216 4C0
RPDO9 z 1344 540
PDO10
(process data channel 2)
TPDO10 z 1728 6C0
RPDO10 z 1984 7C0
SDO1
(parameter data channel 1)
TSDO1 z 1408 580
RSDO1 z 1536 600
Node guarding z 1792 700