Lenze 931K - Manual (Page 25)

CANopen over EtherCAT (CoE)
New communication objects
New and changed CANopen communication objects under CoE
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25 KHB 13.0005−EN 1.0
Object 0x1C12 − Sync Manager Channel 2 (Process Data Output)
Via this object a PDO for sync channel 2 can be configured. Sync channel 2 is fixedly
provided for the reception of receive PDOs (master
® slave). In this object the number of
PDOs has to be set under subindex 0, which are assigned to this sync channel.
In subindexes 1 to 2 the object number of the PDO is then entered which is to be assigned
to the channel. For this only the object numbers of the previously configured receive PDOs
can be used (0x1600 and 0x1601).
Sync Manager Channel 2 (Process Data Output)
Index 0x1C12
Name Sync Manager Channel 2 (Process Data Output)
Object code Array
Data type UINT16
Sync Manager Channel 2 (Process Data Output)
Subindex 0
Description Number of assigned PDOs
Access RW
PDO Mapping no
Value Range 0: no PDO assigned to this channel
1: one PDO assigned to this channel
2: two PDOs assigned to this channel
Default Value 2: two PDOs assigned to this channel
Sync Manager Channel 2 (Process Data Output)
Subindex 1
Description PDO Mapping object Number of assigned RxPDO
Access rw
PDO Mapping no
Value Range 0x1600: first Receive PDO
0x1601: second Receive PDO
Default Value 0x1600: first Receive PDO
Sync Manager Channel 2 (Process Data Output)
Subindex 2
Description PDO Mapping object Number of assigned RxPDO
Access rw
PDO Mapping no
Value Range 0x1600: first Receive PDO
0x1601: second Receive PDO
Default Value 0x1601: second Receive PDO
Object 0x1C13 − Sync Manager Channel 3 (Process Data Input)
Via this object a PDO for sync channel 3 can be configured. Sync channel 3 is is fixedly
provided for the transmission of transmit PDOs (master
¬ slave). In this object the number
of PDOs has to be set under subindex 0, which are assigned to this sync channel.
In subindexes 1 to 2 the object number of the PDO is then entered which is to be assigned
to the channel. For this only the object numbers of the previously configured transmit
PDOs can be used (0x1A00 and 0x1A01).