10 implemented canopen objects, 9"can on board" system bus – Lenze 9400 User Manual
Page 339
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
339
9
"CAN on board" system bus
9.10
Implemented CANopen objects
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
9.10
Implemented CANopen objects
Lenze devices can both be parameterised with Lenze codes and manufacturer-independent
"CANopen objects". A completely CANopen compliant communication can only be achieved by
using CANopen objects for parameter setting. The CANopen objects described in this chapter are
defined in the CAN specification DS301 V4.02.
Many CANopen objects can be mapped on Lenze codes. The following table lists the related Lenze
codes in the column "Relationship to Lenze codes".
Overview of CANopen indices and their relationship to Lenze codes
Note!
Some of the terms used here derive from the CANopen protocol.
CANopen object
Relationship to Lenze
code
Index
Subindex
Designation
0
Device type
-
0
Error register
Predefined error field
0
Number of errors
-
1 ... 10
Standard error field
-
0
COB-ID SYNC message
0
Communication cycle period
0
Guard time
0
Life time factor
Store parameters
0
Highest subindex supported
-
1
Save all parameters
-
Restore default parameters
0
Highest subindex supported
-
1
restore all default parameters
-
0
COB-ID EMCY
0
Inhibit time EMCY
Consumer heartbeat time
0
Highest subindex supported
-
1 ... 32
Consumer heartbeat time
0
Producer heartbeat time
Identity object
0
Highest subindex supported
-
1
Vendor ID
-
2
Product code
-
3
Revision number
-
4
Serial number
-