Lenze 9400 - Manual (Page 294)

9 "CAN on board" system bus
9.1 General information
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Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
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9.1.1 General data and application conditions
9.1.2 Supported protocols
Range Values
Communication profile CANopen (DS301 V4.02)
Communication medium DIN ISO 11898
Network topology Line closed on both sides (e.g. termination by Sub-D plug, type EWZ0046)
Adjustable node addresses 1 ... 127
• Adjustable via DIP switch on the memory module (exception: memory
module MM1xx) or via code C00350 .
Max. number of nodes 127
Baud rate 10, 20, 50, 125, 250, 500, 800, 1000 kbit/s or automatic recognition
• Adjustable via DIP switch on the memory module (exception: memory
module MM1xx) or via code C00351 .
Process data • max. 4 TPDOs with 1 ... 8 bytes
• max. 4 RPDOs with 1 ... 8 bytes
Parameter data Max. 10 client and server SDO channels with 1 ... 8 bytes
Transfer mode for TPDOs • With change of data
• Time-controlled, 1 to x ms
• After the reception of 1 to 240 sync telegrams
Category Protocol
Standard PDO protocols PDO write
PDO read
SDO protocols SDO download
SDO download initiate
SDO download segment
SDO upload
SDO upload initiate
SDO upload segment
SDO abort transfer
SDO block download
SDO block download initiate
SDO block download end
SDO block upload
SDO block upload initiate
SDO block upload end
NMT protocols Start remote node (master and slave)
Stop remote node (slave)
Enter pre-operational (slave)
Reset node (slave and local device)
Reset communication (slave)
Monitoring protocols Node guarding (master and slave)
Heartbeat (heartbeat producer and heartbeat consumer)