Lenze CANopen Controller-based Automation - Manual (Page 31)

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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6.3.3 Special features of the I/O system 1000 (EPM-Sxxx)
Basic identifier - I/O system 1000 (EPM-Sxxx)
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.
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
PDO5
(Process data channel 5)
TPDO5  1664 0x680
RPDO5  1920 0x780
PDO6
(Process data channel 6)
TPDO6  448 0x1C0
RPDO6  576 0x240
PDO7
(Process data channel 7)
TPDO7  704 0x2C0
RPDO7  832 0x340
PDO8
(Process data channel 8)
TPDO8  960 0x3C0
RPDO8  1088 0x440
PDO9
(Process data channel 9)
TPDO9  1216 0x4C0
RPDO9  1344 0x540
PDO10
(Process data channel 10)
TPDO10  1728 0x6C0
RPDO10  1984 0x7C0
SDO1
(Parameter data channel 1)
TSDO1  1408 0x580
RSDO1  1536 0x600
Node guarding  1792 0x700