Lenze 931K - Manual (Page 17)

CANopen communication
About CANopen
Identifier
5
l
17 KHB 13.0002−EN 4.1
Object
Direction Basic identifier
From the drive To the drive Hex
NMT 0
Sync 80
Emergency X 80
PDO1
(process data channel 1) TPDO1 X 180
RPDO1 X 200
PDO2
(process data channel 2) TPDO2 X 280
RPDO2 X 300
SDO1
(parameter data channel 1) X 580
X 600
Heartbeat/boot−up X 700
5.1.3 Node address (node ID)
Each node of the CAN network must be assigned with a node address (also called node ID)
within the valid address range for unambiguous identification.
ƒ A node address may not be assigned more than once within a network.