Lenze E94AYCCA - Manual (Page 39)

EDS94AYCCA EN 5.0 - 06/2012
L
39
E94AYCCA communication manual (CANopen®)
Data transfer
Structure of the CAN data telegram
Identifier assignment
The system bus (CANopen) is message-oriented and not node-oriented. Each message has
a unique identification, the identifier. In the case of CANopen, a node-orientation is
achieved by the fact that for each message there is only one sender.
 The basic identifiers for network management (NMT) and sync as well as the basic SDO
channel (SDO1) are specified in the CANopen protocol and cannot be changed.
 In the Lenze setting, the basic identifiers of the PDOs are preset according to the
"Predefined Connection Set" of DS301, V4.02. They can be changed via parameters/
indexes if required.
Identifiers of the process data objects
( 46)
Object Direction Basic identifier
from the device to the device dec hex
Network management (NMT) 0 0
Sync 128 80
Emergency z 128 80
PDO1
(Process data channel 1)
TPDO1 z 384 180
RPDO1 z 512 200
PDO2
(Process data channel 2)
TPDO2 z 640 280
RPDO2 z 768 300
PDO3
(Process data channel 3)
TPDO3 z 896 380
RPDO3 z 1024 400
PDO4
(Process data channel 4)
TPDO4 z 1152 480
RPDO4 z 1280 500
SDO1
(Basic SDO channel)
z 1408 580
z 1536 600
SDO2 ... SDO10
(Parameter data channel 2 ... 10)
z 1472 5C0
z 1600 640
Node guarding, heartbeat z 1792 700