Lenze E94AxPExxxx - Manual (Page 397)

Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
397
10 "CAN on board" system bus
10.10 Implemented CANopen objects | I-1403
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I-1403
Communication parameter for the reception of process data via RPDO4
• For assignment of the data telegram see object I-1400 .
I-1600
The object I-1600 serves to receive parameter data as RPDO1.
[10-26] Data telegram assignment
IEC 61131 process data words are mapped. Only whole bytes can be mapped (the granularity of the
mapping entries is one byte).
Index:
I-1403
Name:
RPDO4 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 0x500 + 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 Identifier RPDO4
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x500 + node ID
C00321/4
2 RPDO Transmission type according to DS301 V4.02
 Transmission type ( 348)
C00323/4
Index:
I-1600
Name:
RPDO1 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of mapped application
objects in PDO
0 0 8 rw U8
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entries 1 ... 8 for RPDO1
8th byte 7th byte 6. byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length