Lenze E84DGFCC - Manual (Page 51)

EDS84DMOTCAN EN 3.0 - 11/2011
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51
Communication manual 8400 motec CANopen
Process data transfer
Identifiers of the process data objects
8.3 Identifiers of the process data objects
In the Lenze setting, the identifier for the process data objects PDO1 and PDO2 consists of
a basic identifier (CANBaseID) and the node address set in C00350 :
Identifier (COB-ID) = basic identifier + node address (node ID)
 The basic identifiers of the PDOs comply with the "Predefined connection set" of
DS301, V4.02.
 Alternatively, define via code C00353 that the identifiers of the PDOs are to be assigned
according to Lenze definition or that individual settings are to be made.
– If
C00353 = "2: COBID = C0354/x", the identifiers of the PDOs can be set individually
via the Lenze codes and CANopen indexes listed in the table below. That way,
identifiers independent of the node address can be set for specific PDOs.
– If identifiers are assigned individually, all PDOs must have basic identifier values in
the range of 385 ... 1407.
Short overview: Parameters for setting the identifiers
Process data object Basic identifier Individual setting
dec hex Lenze code CANopen index
PDO1
RPDO1 512 0x200 C00354/1 I-1400/1
TPDO1 384 0x180 C00354/2 I-1800/1
PDO2
RPDO2 768 0x300 C00354/3 I-1401/1
TPDO2 640 0x280 C00354/4 I-1801/1

Note!
After a node address change ( C00350 ) and a subsequent CAN reset node, the
subcodes of C00354 automatically resume the values which result from the
respective basic identifier and the node address set.
Parameter Info Lenze setting
Value Unit
C00353/1 COBID source CAN1_IN/OUT 0: COBID = C0350 + CANBaseID
C00353/2 COBID source CAN2_IN/OUT 0: COBID = C0350 + CANBaseID
C00354/1 COBID CAN1_IN 0x00000201
C00354/2 COBID CAN1_OUT 0x00000181
C00354/3 COBID CAN2_IN 0x00000301
C00354/4 COBID CAN2_OUT 0x00000281