Lenze E84DGFCC - Manual (Page 16)

Communication manual 8400 motec CANopen
Product description
Product features and variants
16
L
EDS84DMOTCAN EN 3.0 - 11/2011
The system bus (CANopen) of the Inverter Drives 8400 motec is the advanced version of the
system bus (CAN) and includes the following features:
 Full compatibility according to CANopen DS301, V4.02.
 Support of the "Heartbeat" NMT slave function (DS301, V4.02).
 Number of parameterisable server SDO channels:
– Max. 2 channels with 1 ... 8 bytes
– Because of the 2 server SDO channels, the address range from 1 ... 63 is available.
 Number of parameterisable PDO channels:
– Max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
– Max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
 All PDO channels are functionally equivalent.
 Monitoring of the RPDOs for data reception
 Adjustable error response to ...
– physical CAN errors (frame, bit, ACK error)
– bus-stop, bus-working
– missing PDOs
 Telegram counters for SDOs and PDOs
 Bus status diagnostics
 Boot-up telegram generation
 Emergency telegram generation
 Reset node telegram generation (in the case of master configuration)
 Sync telegram generation and response to sync telegrams:
– Data transmission/reception
– Device-internal time base synchronisation
 Abort codes
 Object directory (all mandatory functions, optional functions, indexes)