Lenze CANopen Controller-based Automation - Manual (Page 29)

6 Planning the CANopen network
6.3 Device specifications of the field devices
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Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17
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6.3.1 Special features of the 9400 Servo Drives
• The parameter data channel 1 is always active.
• The optional parameter data channels 2 ... 10 can be activated via the subcodes of the codes
Cxx372 and Cxx373.
• If bit 31 is set (0x8nnnnnnn), the corresponding SDO server is deactivated.
• In order to change the COB-ID of a currently active parameter data channel, you have to first
deactivate it and then activate it with a changed COB-ID. Both processes must be rendered
effective by a "Reset Node" command via C00002.
Basic identifier - 9400 Servo Drives
The default setting of the basic identifier is as follows:
1) When creating the sync transmit/receive identifier manually, observe the use of the emergency telegram because
of the same COB-ID.
SDO identifier Code
CANopen SDO server Rx identifier C00372: CAN on board
C13372: Module in slot 1
C14372: Module in slot 2
CANopen SDO server Tx identifier C00373: CAN on board
C13373: Module in slot 1
C14373: Module in slot 2
Object Direction Basic identifier
from the drive to the drive Dec hex
NMT 0 0x000
Sync 1) 128 0x080
Emergency  128 0x080
PDO1
(Process data channel 1)
TPDO1  384 0x180
RPDO1  512 0x200
PDO2
(Process data channel 2)
TPDO2  640 0x280
RPDO2  768 0x300
PDO3
(Process data channel 3)
TPDO3  896 0x380
RPDO3  1024 0x400
PDO4
(Process data channel 4)
TPDO4  1152 0x480
RPDO4  1280 0x500
SDO1
(Parameter data channel 1)
TSDO1  1408 0x580
RSDO1  1536 0x600
SDO2 ... 10
(Parameter data channel 2 ... 10)
TSDOx  1472 0x5C0
RSDOx  1600 0x640
Node guarding, heartbeat  1792 0x700