Lenze CANopen control technology - Manual (Page 30)

Control technology | CANopen communication manual
Planning the CANopen network
Device specifications of the field devices
30
L
DMS 4.2 EN 07/2011 TD17
6.2.1 Special features of the Servo Drives 9400
 The parameter data channel 1 is always active.
 The optional parameter data channels 2 ... 10 can be activated via the subcodes of the
codes Cxx372 and Cxx373.
 If bit 31 is set (0x8nnnnnnn
hex
), the corresponding SDO server is deactivated.
 In order to change the COB-ID of a currently active parameter data channel, you have
to first deactivate it and then activate it with a changed COB-ID. Both processes must
be rendered effective by a "Reset Node" command via C00002.
Basic identifier - 9400 Servo Drives
The default setting of the basic identifier is as follows:
1) When creating the sync transmit/receive identifier manually, observe the use of the emergency telegram because of
the same COB-ID.
SDO identifier Code
CANopen SDO server Rx identifier C00372: CAN on board
C13372: Module in slot 1
C14372: Module in slot 2
CANopen SDO server Tx identifier C00373: CAN on board
C13373: Module in slot 1
C14373: Module in slot 2
Object Direction Basic identifier
from the drive to the drive dec hex
NMT 0 0
Sync 1) 128 80
Emergency z 128 80
PDO1
(process data channel 1)
TPDO1 z 384 180
RPDO1 z 512 200
PDO2
(process data channel 2)
TPDO2 z 640 280
RPDO2 z 768 300
PDO3
(process data channel 3)
TPDO3 z 896 380
RPDO3 z 1024 400
PDO4
(process data channel 4)
TPDO4 z 1152 480
RPDO4 z 1280 500
SDO1
(parameter data channel 1)
TSDO1 z 1408 580
RSDO1 z 1536 600
SDO2 ... 10
(parameter data channel 2 ... 10)
TSDOx z 1472 5C0
RSDOx z 1600 640
Node guarding, heartbeat z 1792 700