Lenze 931M-931W - Manual (Page 40)

CANopen communication
Process data transfer (PDO transfer)
Description of the objects
5
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40 KHB 13.0003-EN 2.0
5.3.4 Description of the objects
Identifier of the PDO (COB_ID_used_by_PDO)
Enter the identifier to be used to transmit or receive the PDO in the object
COB_ID-used_by_PDO. If bit 31 is set, the PDO is deactivated. This is the default setting for
all PDOs.
The COB ID can only be changed if the PDO is deactivated, i.e. if bit 31 is set. For changing
the COB ID, you therefore have to keep to the following sequence:
ƒ Read out the COB ID
ƒ
Write the read COB ID + 80000000
h
ƒ
Write the new COB ID + 80000000
h
ƒ Write the new COB ID, the PDO is active again.
Transmission mode (transmission_type and inhibit_time)
For each PDO, the event leading to a message being sent (transmit PDO) or evaluated
(receive PDO) can be defined:
Value Meaning Permitted for
00
h
- F0
h
Sync telegram TPDO
RPDO
The numerical value indicates how many sync telegrams are ignored between two
transmissions before the PDO is
- sent (TPDO) or
- evaluated (RPDO).
FE
h
Cyclic TPDO
(RPDO)
The TPDO is cyclically updated and sent by the controller. The time interval is
determined by the event_time object.
RPDOs, however, are only evaluated immediately after the receipt.
FF
h
Event-controlled with cyclic overlay TPDO
The TPDO is sent, if, at least 1 bit of the PDO data has changed or if the time of the
event_timer object is over. When 0 ms is selected, the timer is deactivated and a
PDO is only sent when a new event occurs.
inhibit_time can be used to determine the minimum time interval in 100 μs steps
between the transmission of two PDOs.
The use of all other values is not permitted.
Number of objects to be transferred (number_of_mapped_objects)
This object indicates how many objects are to be mapped into the corresponding PDO. The
following restrictions have to be taken into account:
ƒ
It is not possible to map more than 4 objects per PDO
ƒ A PDO can have a maximum of 64 bits (8 bytes).