Lenze E84DGFCC - Manual (Page 99)

EDS84DMOTCAN EN 3.0 - 11/2011
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99
Communication manual 8400 motec CANopen
Implemented CANopen objects
I-1400 - RPDO1 communication parameter
Communication parameters for receiving process data via RPDO1
[13-11] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Description of subindex 1
[13-12] I-1400 / I-1401, subindex 1
Index:
I-1400
Name:
RPDO1 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by RPDO 0x200 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time - - (not used for RPDOs) rw U16
4: Compatibility entry - - (reserved, read or write access results in error
message 0x06090011)
rw U8
5: Event timer - - (not used for RPDOs) rw U16
Subindex Meaning Code
0 The value 5 is permanently set.
• Max. 5 subindexesare supported.
-
1 RPDO1 identifier
• According to the "Predefined Connection Set", the
basic setting is: identifier = 0x200 + node ID
C00354/1
2 RPDO transmission type according to DS301 V4.02
Transmission type ( 52)
C00323/1
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
0/1 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".
Bit no. Value Explanation
0 ... 10 0/1 11-bit identifier
(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".
29* 0
30 0 RTR to this PDO permissible (cannot be set)
1 RTR to this PDO not permissible (Lenze)
31 0 PDO active
1 PDO not active