Lenze E82ZAFCC210 - Manual (Page 63)

Commissioning
Basic identifiers of the CAN objects
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EDK82ZAFCC-210 DE/EN/FR 4.0
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H2_BasisidentifierCanObjekte-Basisidentifier
Basic identifiers of the CAN objects
The CAN bus system is message-oriented. Each message has an unambiguous identifier.
With CANopen, there is only one sender for each message for device-orientation.
Except for the network management and the sync telegram, the identifier contains the
node address of the controller:
Identifier (COB-ID) = basic identifier + adjustable node address (node ID)
The identifier assignment is specified in the CANopen protocol.
The basic identifier in accordance with the CANopen specification ex works is preset to the
following values:
Object
Direction Basic identifier
From the
controller
To the
controller
Dec Hex
NMT 0 0
Sync 128 80
PDO1
TPDO 1
(CAN-OUT1) sync-controlled
X
384 180
time-controlled 769 301
RPDO1
(CAN-IN1) sync-controlled
X
512 200
time-controlled 768 300
PDO2
TPDO2
(CAN-OUT2)
time-controlled X 641 281
RPDO2
(CAN-IN2)
time-controlled X 640 280
SDO1
X 1408 580
X 1536 600
SDO2
X 1472 5C0
X 1600 640
Configuration of PDO (sync-controlled or time-controlled) via C0360