Lenze E94AxPExxxx - Manual (Page 395)

Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
395
10 "CAN on board" system bus
10.10 Implemented CANopen objects | I-1400
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I-1400
Communication parameter for receiving process data via RPDO1
[10-25] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Index:
I-1400
Name:
RPDO1 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by RPDO 0x200 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time - - (not used for RPDOs) rw U16
4: Compatibility entry - - (reserved, read or write access leads to error message
0x06090011)
rw U8
5: Event timer - - (not used for RPDOs) rw U16
Subindex Meaning Lenze code
1 RPDO1 identifier
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x200 + node ID
C00321/1
2 RPDO Transmission type according to DS301 V4.02
 Transmission type ( 348)
C00323/1
8th byte 7th byte 6. byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
Bit Setting
Bit 30 0 RTR to this PDO possible (cannot be set).
1 RTR to this PDO not possible (Lenze).
Bit 31 0 PDO active
1 PDO inactive