Lenze 931K - Manual (Page 10)

Product description
Product features
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10 KHB 13.0002−EN 4.1
2 Product description
2.1 Product features
CAN bus features:
ƒ Full compatibility according to CANopen DS301, V4.02.
ƒ Support of NMT slave "Heartbeat" function (DS301 V4.02).
ƒ Number of parameterisable server SDO channels:
– max. 2 channels with 1 ... 8 bytes
ƒ Number of parameterisable PDO channels:
– max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (can be set)
– max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (can be set)
ƒ All PDO channels have the same functions.
ƒ Data reception monitoring of RPDOs
ƒ Adjustable error response to ...
– physical CAN errors (frame, bit, ACK errors)
– bus stop, bus working
– absent PDOs
ƒ Bus status diagnostics
ƒ Emergency telegram generation
ƒ Sync telegram generation and response to sync telegrams:
– Send/receive data
– Synchronisation of internal time base
ƒ Abort codes