Lenze S94CAN01A - Manual (Page 11)

9 ENGLISH
Communication Objects
OBJECT NAME DESCRIPTION
1800h 1 st transmit PDO Parameter
(Torque)
Sub index 01 -> TPDO COB-ID with R/W access. The
default value of this COB-ID is 0x180 + CAN network node
id/address.
Sub index 02 -> TPDO Type. Asynchronous TPDO with
255 transmission type.
Sub index 03 -> Inhibit Time in ms with R/W access. The
TPDO cannot be transmitted before the time set in this
parameter elapses.
Value of 0 disables this functionality.
Sub index 03 -> Event Timer in ms with R/W access. The
TPDO will be sent when the time set in this parameter
elapses whether or not an occurrence of the event
associated with this TPDO is detected.
NOTE: This TPDO is used in CAN Torque Mode only.
Inhibit Time & Event Time cannot both be 0 at the same
time.
1801h 2 nd transmit PDO Parameter
(Velocity)
Sub index 01 -> TPDO COB-ID with R/W access. The
default value of this COB-ID is 0x180 + CAN network node
id/address.
Sub index 02 -> TPDO Type. Asynchronous TPDO with
255 transmission type.
Sub index 03 -> Inhibit Time in ms with R/W access. The
TPDO cannot be transmitted before the time set in this
parameter elapses.
Value of 0 disables this functionality.
Sub index 03 -> Event Timer in ms with R/W access. The
TPDO will be sent when the time set in this parameter
elapses whether or not an occurrence of the event
associated with this TPDO is detected.
NOTE: This TPDO is used in CAN Velocity Mode only.
Inhibit Time & Event Time cannot both be 0 at the same
time.
1A00h 1 st transmit PDO Mapping (Torque) Only the following static mapping is supported:
Sub index 01 -> 6041h Status word
Sub index 02 -> 6077h Torque Actual Value
NOTE: This object is used only in CAN Torque mode
1A01h 2 nd transmit PDO Mapping
(Velocity)
Only the following static mapping is supported:
Sub index 01 -> 6041h Status word
Sub index 02 -> 606Ch Velocity Actual Value
NOTE: This object is used only in CAN Velocity mode