Lenze CANopen control technology - Manual (Page 63)

DMS 4.2 EN 07/2011 TD17
L
63
Control technology | CANopen communication manual
Commissioning the CANopen Logic bus
Setting of CAN parameters and CAN mapping
8.7.1 Special features of the 9400 Servo Drives
The mapping required for cross-communication between the control and the slaves must
be created in the »PLC Designer«. When the PLC is started, the complete configuration /
PDO mapping is written to the Servo Drives 9400. During this process, previous mapping
entries from the »Engineer« are overwritten.
Please also observe the notes regarding
Cross communication between the slaves
( 62)
.
8.7.2 Special features of the 8400 Inverter Drives
The mapping required for cross-communication between the control and the slaves must
be created in the »PLC Designer«. When the PLC is started, the complete configuration /
PDO mapping is written to the Inverter Drives 9400. During this process, previous mapping
entries from the »Engineer« are overwritten.
Please also observe the notes regarding
Cross communication between the slaves
( 62)
.
8.7.3 Special features of the I/O modules IP20 "1×counter/16×digital input" and "SSI interface"
 The I/O modules support the system bus (CAN) and CANopen operating modes. In
connection with the control technology, set CANopen.
 The module 1×counter/16×digital input always assigns the next to last and the SSI
interface module always the last of the PDOs used.
 The modules cannot be assigned to PDO1 and PDO2. Thus, only eight of these modules
can be maximally used in a system.
 The modules assign a whole PDO (8 bytes) each.
8.7.4 Special features of the 8200 vector frequency inverter
 The standard mapping corresponds to the Lenze setting of the 8200 vector frequency
inverter.
 In the standard setting, sync-controlled PDOs are used.