Lenze CANopen control technology - Manual (Page 67)

DMS 4.2 EN 07/2011 TD17
L
67
Control technology | CANopen communication manual
Commissioning the CANopen Logic bus
Creating a program code to control the device
8.8.6 Special features of the ECS servo system
 When the program is started, the control initialises the ECS device:
– The control transmits, as common for CANopen, the CAN settings. However, the
device as a Lenze system bus device does not accept these settings.
– The control transmits the SDOs of the Service Data Objects tab if you changed
anything there.
– The control transmits an "NMT Start Remote Node" telegram. The device changes to
the "Operational" state.
 While the control initialises the ECS device, the »Global Drive Control« must not be
online on the same SDO channel.
 The ECSxE and ECSxM devices support toggle bit monitoring, which can cause the "TRIP
CE4" error.
– You can either program that the control cyclically changes the state of bit 0 in each
transmitted PDO. The first transmitted control word must be 0 after the initialisation
phase is completed, or
– deactivate the toggle bit monitoring function in the device:
for ECSxE with C0595 = 3, for ECSxM with C3160 = 3.