Lenze EMF2178IB - Manual (Page 109)

Implemented CANopen objects
Overview
I−1400 ... I−1402: Receive PDO communication parameters
13
l
109 EDSMF2178IB EN 3.0
13.2.19 I−1400 ... I−1402: Receive PDO communication parameters
Receipt of PDO communication parameters
)
Note!
The objects I−1401 and I−1402 are not available for 8200 vector and 93XX
controllers.
Index Subindex Name Data type Value range Authorisatio
n
I−1400 0 Number of entries U8 0 ... 255 ro
1 RPDO1 COB−ID U32 0 ... (2 32 − 1) rw
2 RPDO1 transmission type U8 0 ... 240, 254 rw
5 RPDO1 event timer U32 1 ... 65535 rw
I−1401 0 Number of entries U8 0 ... 255 ro
1 RPDO2 COB−ID U32 0 ... (2 32 − 1) rw
2 RPDO2 transmission type U8 0 ... 255 rw
5 RPDO2 event timer U32 1 ... 65535 rw
I−1402 0 Number of entries U8 0 ... 255 ro
1 RPDO3 COB−ID U32 0 ... (2 32 − 1) rw
2 RPDO3 transmission type U8 0 ... 255 rw
5 RPDO3 event timer U32 1 ... 65535 rw
Subindices
Subindex Description
0 Max. supported subindices = 5
1 Identifier setting:
l RPDO1: 200
hex
+ node ID
l RPDO2: 300
hex
+ node ID
l RPDO3: 400
hex
+ node ID
2 Transmission type setting (see table above)
5 Monitoring time setting (see table above)
Description of subindex 1
Data telegram assignment
Byte 8 7th byte Byte 6 Byte 5
MSB U32 LSB
31 30 29 28 ... 11 10 ... 0
0/1 0/1 0 Bit value: 0 11−bit identifier
Bits Value Description
0 ... 10 X 11−bit identifier
11 ... 29 0 The extended identifier is not supported. Any of these bits must be "0".
30 0 RTR to RPDO possible (Lenze)
1 RTR to RPDO not possible (cannot be set)
31 0 RPDO active
1 RPDO not active