Lenze 931K - Manual (Page 28)

CANopen communication
Process data transfer (PDO transfer)
Objects for PDO parameterisation
5
l
28 KHB 13.0002−EN 4.1
2. Transmit PDO
Index Name Possible settings Characteristics
Lenze Selection Description
1801
h
Transmit PDO2
Communication
Parameter
0 number_of_entries 00
h
{1
h
} 04
h
REC UINT8 RO Ċ
Maximum number of
supported subindexes
03
h
3 subindexes are supported.
1 COB−ID_used_by_
PDO
00000281
h
00000281
h
{1
h
} 000002FF
h
Ċ UINT32 RW Ċ
Identifier of transmit PDO2,
(280
h
+ node address).
For processing, bits 30 and
31 must be set
(parameterisation of
mapping).
Bit no. Value
0 − 10 x 11−bit identifier
11 − 28 0 The extended identifier
(bit 29) is not supported.
Each bit of this range must
be "0".
29 0
30 0 RTR of this PDO is permitted
(Lenze)
1 RTR of this PDO is not
permitted (unadjustable)
31 0 PDO is active
1 PDO is inactive
2 transmission_type 255 0 {1} 240, 254, 255 Ċ UINT8 RW Ċ
Setting of the transmission
mode
0 Function is switched off
n = 1 ... 240 By entering a value n, this
PDO is accepted with every
n−th sync.
n = 254, 255 Event−controlled
transmission mode
3 inhibit_time 0 0 {0.1 ms} 65535 Ċ UINT16 RW Ċ
Setting of the minimum
delay time between two
PDOs. The time can only be
changed if the PDO is not
active (subindex 1, bit 31 = 1)