Lenze 9400 - Manual (Page 300)

9 "CAN on board" system bus
9.4 Structure of the CAN data telegram
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Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
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Node address (node ID)
Every node of the system bus network must be assigned to a node address (also called node ID)
within the valid address range (1 ... 127) for unambiguous identification.
• Assigning a node address more than once within a network is impermissible.
• The own node address can be configured via the DIP switch of the memory module (exception:
MM1xx memory module) or via code C00350 .  Setting the node address ( 296)
Identifier assignment
The system bus is message-oriented instead of node-oriented. Every message has an unambiguous
identification, the identifier. For CANopen, node-oriented transfer is achieved by the fact that every
message has only one transmitter.
• The basic identifiers for network management (NMT) and sync as well as the basic SDO channel
(SDO1) are defined in the CANopen protocol and cannot be changed.
• The basic identifiers of the PDOs are preset in the Lenze setting according to the "Predefined
Connection Set" of DS301 V4.02 and can be changed via parameters/indexes, if required.
 Identifiers of the process data objects ( 307)
Object Direction Basic identifier
from device to device dec hex
Network management (NMT) 0 0
Sync 128 80
Emergency  128 80
PDO1
(Process data channel 1)
TPDO1  384 180
RPDO1  512 200
PDO2
(Process data channel 2)
TPDO2  640 280
RPDO2  768 300
PDO3
(Process data channel 3)
TPDO3  896 380
RPDO3  1024 400
PDO4
(Process data channel 4)
TPDO4  1152 480
RPDO4  1280 500
SDO1
(Basic SDO channel)
 1408 580
 1536 600
SDO2 ... SDO10
(Parameter data channel 2 ... 10)
 1472 5C0
 1600 640
Node guarding, heartbeat  1792 700