Lenze I/O system 1000 System Manual - Manual (Page 273)

CANopen communication
Transmitting process data
Indices for setting the process data transfer
8
l
273 EDSIO1000 EN 7.0
8.3.11 Indices for setting the process data transfer
Process data objects for input data
COB−IDs can be changed as follows:
The COB−ID is set via a 32 bit value.
Bit 0 ... 11 Bit 12 ... 29 Bit 30 Bit 31
COB−ID Reserved RTR allowed PDO not valid: 1
PDO valid: 0
Example: Changing the COB−ID from 201 to 202
1. Enter the COB−ID value and bit 31 = 1.
0xC0000202
2. Bit 31 = 0
0x40000202
The PDO is activated with a new identifier. The changes will be accepted in the
Pre−Operational or Operational status.
Index Name Possible settings Important
Lenze Selection
I1400
h
¿
^ 256
1 COB−ID used
by RxPDO 1
513 +
NID
385 {1} 2047 Definition of specific identifiers
for process data object 1 (NID=
Node ID / node address)
2 Transmission
type
255 0 {1} 255 Defining the transmission mode
0 ... 24
0 Process data update on every sync
telegram transmission The input data are accepted on
sync telegram transmission.
241 ...
254 Reserved
255 Process data update on every
occurrence of an event Every received value is accepted
... ...
I1409
h
¿
^ 256
1 COB−ID used
by RxPDO 10
1984
+ NID
385 {1} 2047 Definition of specific identifiers
for process data object 10 (NID=
Node ID / node address)
2 Transmission
type
255 0 {1} 255 Defining the transmission mode
0 ... 24
0 Process data update on every sync
telegram transmission The input data are accepted on
sync telegram transmission.
241 ...
254 Reserved
255 Process data update on every
occurrence of an event Every received value is accepted