Lenze CANopen control technology - Manual (Page 64)

Control technology | CANopen communication manual
Commissioning the CANopen Logic bus
Setting of CAN parameters and CAN mapping
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DMS 4.2 EN 07/2011 TD17
8.7.5 Special features of the ECS servo system
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1. Set the process data transfer in the ECS device.
Process data channel CAN3 (event-controlled/cyclic without sync telegram):
• C0360 = 0
• Use individual addressing from C0354: C0353/3 = 1
• COB-ID of the receive-PDO1: C0354/5 = 128 + node address
• COB-ID of the transmit-PDO1: C0354/6 = node address
• Transmit-cycle time: C0356/3
Process data channel CAN1 (synchronised/cyclic with sync telegram):
• C0360 = 1
• Use addressing from C0350: C0353/1 = 0
2. Trigger a "CAN reset node": C0358 = 1
3. Save the parameter set: C0003 = 1