Lenze 931K - Manual (Page 32)

CANopen communication
Process data transfer (PDO transfer)
Objects for PDO parameterisation
5
l
32 KHB 13.0002−EN 4.1
2. Receive PDO
Index Name Possible settings Characteristics
Lenze Selection Description
1401
h
Receive PDO2
Communication
Parameter
0 number_of_entries 00
h
{1
h
} 04
h
REC UINT8 RO Ċ
Maximum number of
supported subindexes
02
h
2 subindexes are supported.
1 COB−ID_used_by_
PDO
00000301
h
00000301
h
{1
h
} 000003FF
h
Ċ UINT32 RW Ċ
Identifier of receive PDO2
(300
h
+ node address)
For processing, bits 30 and
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.
Each bit of this range must
be "0".
29 0
30 0 RTR of this PDO is permitted
(Lenze)
RTR = remote transmission
request
1 RTR of this PDO is not
permitted (unadjustable)
31 0 PDO is active
1 PDO is inactive
2 transmission_type 255 0 {1} 240, 254, 255 Ċ UINT8 RW Ċ
Setting of the transmission
mode
0 Function is switched off
n = 1 ... 240 By entering a value n, this
PDO is accepted with every
n−th sync.
n = 254, 255 Event−controlled
transmission mode, PDO is
accepted immediately