Lenze CANopen Controller-based Automation - Manual (Page 30)

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17
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6 Planning the CANopen network
6.3 Device specifications of the field devices
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6.3.2 Special features of the 8400 Inverter Drives
Basic identifier - 8400 Inverter 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.
2) When the boot-up identifier is set manually, observe the use of heartbeat because of the same COB-ID.
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  641 0x281
PDO3
(Process data channel 3)
TPDO3  768 0x300
RPDO3  769 0x301
SDO1
(Parameter data channel 1)
TSDO1  1408 0x580
RSDO1  1536 0x600
SDO2
(Parameter data channel 2)
TSDO2  1472 0x5C0
RSDO2  1600 0x640
Heartbeat  1792 0x700
Boot-up 2)  1792 0x700