Lenze I/O system 1000 System Manual - Manual (Page 274)

CANopen communication
Transmitting process data
Indices for setting the process data transfer
8
l
274 EDSIO1000 EN 7.0
Process data objects for output 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: A COB−ID value of 182 is to be set
1. Enter the COB−ID value and bit 31 = 1.
0x80000182
2. Bit 31 = 0
0x00000182
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
I1800
h
¿
^ 256
1 COB−ID used
by TxPDO 1
384+
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 Function deactivated The output data are accepted on
sync telegram transmission.
1 ...
240 Process data transfer after sync no. 1
...
Process data transfer after sync no.
240 The output data are accepted
after transmission of the set
number (1 ... 240) of sync
telegrams.
254 Time−controlled process data transfer Only if a cycle time is set in
I180x
h
, subindex 5
255 Event−controlled process data transfer
255 Event−controlled process data transfer
with cyclic overlay Only if a cycle time is set in
I180x
h
, subindex 5
3 Inhibit time 0 0 {1 ms} 65535 Blocking time
5 Event time 100 0 {1 ms} 65535 Cycle time
... ...