Lenze E94AYCCA - Manual (Page 171)

EDS94AYCCA EN 5.0 - 06/2012
L
171
E94AYCCA communication manual (CANopen®)
Implemented CANopen objects
I-1403 - RPDO4 communication parameter
Communication parameter for the reception of process data via RPDO4
 For assignment of the data telegram see object I-1400 .
I-1600 - RPDO1 mapping parameter
This object serves to receive parameter data as RPDO1.
[14-16] Data telegram assignment
IEC 61131 process data words are mapped. Only whole bytes can be mapped (the
granularity of the mapping entries is 1 byte).
Index:
I-1403
Name:
RPDO4 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 5 - (only read access) ro U8
1: COB-ID used by RPDO 0x500 + node ID 0 4294967295 rw U32
2: transmission type 254 0 255 rw U8
3: inhibit time - - (for RPDOs unused) rw U16
4: compatibility entry - - (reserved, write or read access results in error
message 0x06090011)
rw U8
5: event timer - - (for RPDOs unused) rw U16
Subindex Meaning Lenze code
1 Identifier RPDO4
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x500 + node ID
C13321/4 / C14321/4
2 RPDO transmission type according to DS301, V4.02
Transmission type ( 47)
C13323/4 / C14323/4
Index:
I-1600
Name:
RPDO1 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: number of mapped application
objects in PDO
0 0 8 rw U8
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entries 1 ... 8 for RPDO1
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length