Lenze 931M-931W - Manual (Page 28)

CANopen communication
Process data transfer (PDO transfer)
Objects for PDO parameterisation
5

28 KHB 13.0003-EN 2.0
2. Transmit PDO
Index Name Possible settings Characteristics
Lenze Selection Description
1801
h
Transmit PDO2
communication
parameters
0 number_of_entries 00
h
{1
h
} 05
h REC
UINT8 RO —
Maximally supported
subindices.
05
h
Six subindices are supported.
1 COB-ID_used_by_
PDO
80000281
h
80000281
h
{1
h
} 800002FF
h —
UINT32 RW —
Identifier of transmit PDO2,
(280
h
+ node address).
For processing, bit 31 must
be set (parameterisation of
mapping).
Bit No. Value
0 - 10 X 11-bit identifier
11 - 28 0 The extended identifier
(bit 29) is not supported.
Every bit in this range must
be set to ”0”.
29 0
30 0 Set to zero.
31 0 PDO active
1 PDO inactive
2 transmission_type FF
h
0 {1} F0
h
, FE
h
, FF
h —
UINT8 RW —
Setting the transmission
mode.
0 Function is deactivated.
n = 1 ... F0 When a value n is entered,
the PDO is accepted every
n-th sync.
n = FE Cyclic transmission mode.
n = FF Event-controlled
transmission mode.
3 inhibit_time 0 0 {100 μs} 65535 — UINT16 RW —
Setting the minimum delay
time between two PDOs. The
time can only be changed
when the PDO is not active
(subindex 1, bit 31 = 1).
4 CMS_priority_
group_tpdo2
0 0 {1} 255 — UINT8 RW —
5 event_timer 0 0 {1 ms} 65535 — UINT16 RW —
Setting the maximum delay
time between two PDOs.
0 Function is deactivated.