Lenze E84DGFCC - Manual (Page 93)

EDS84DMOTCAN EN 3.0 - 11/2011
L
93
Communication manual 8400 motec CANopen
Implemented CANopen objects
I-1005 - COB-ID SYNC message
This object can be used to activate the generation of sync telegrams and to write the
identifier value.
This object relates to codes
C00367 and C00368 .
Creating sync telegrams
Sync telegrams are generated by setting bit 30 (see below) to a value of "1". The time
interval between the sync telegrams can be set using object I-1006 .
Writing identifiers
For the reception of PDOs, the value 0x80 is entered in the Lenze setting (and according to
CANopen specification) into the 11 bit identifier. This means that all modules are set to the
same sync telegram by default.
 If sync telegrams are only to be received by certain communication modules, their
identifiers can be entered with values up to and including 0x07FF.
 The identifier may only be changed when the communication module does not send
any sync telegrams (bit 30 = "0").
 How to change the identifier:
– Deactivate identifier (set bit 30 to "0").
– Change identifier.
– Activate identifier (set bit 30 to "1").
[13-2] Data telegram assignment
Index:
I-1005
Name:
COB-ID SYNC message
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: COB-ID SYNC message 0x0000 0080
or
0x8000 0080
0 4294967295 rw U32
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
x 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".