Lenze 931K - Manual (Page 38)

CANopen communication
Process data transfer (PDO transfer)
Activation of the PDOs
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38 KHB 13.0002−EN 4.1
5.3.6 Activation of the PDOs
The following criteria must be met to enable the drive controller to send or receive PDOs:
ƒ The number_of_mapped_objects object must be non−zero.
ƒ Bit 31 of the cob_id_used_for_pdos object must be deleted.
ƒ The communication state of the controller must be operational (see chapter 5.5,
network management).
The following criterion must be met to enable the parameterisation of PDOs:
ƒ The communication state of the drive controller must not be operational.