Lenze EPM−T9XX Modular system - Manual (Page 219)

Transmitting process data
Assigning individual parameters
9
Network via CANopen
9.3
9.3.3
L
9.3−3 EDSPM−TXXX−9.0−11/2009
9.3.3 Assigning individual parameters
For larger networks with many nodes, it may be useful to set individual identifiers
for process data objects PDO1 ... PDO10 that are independent of the set node
address.
Process data objects for input data
Individual identifiers for input data can be set via the indices I1400
h
,
subindex 1 ... I1409
h
, subindex 1.
Process data objects for output data
Individual identifier for output data can be set via the indices I1800
h
,
subindex 1 ... I1809
h
, subindex 1.
)
Note!
l Set the value which makes the required identifier
(x = corresponding process data object) in index I140x
h
,
subindex 1 or I180x
h
, subindex 1.
l Make a reset node so that the changes are accepted.
9.3.4 Process data transmission mode
The transmission mode is configured via the index I1400
h
, subindex 2
(PDO1−Rx) ... I1409
h
, subindex 2 (PDO10−Rx):
l Sync−controlled reception
l N−sync−controlled reception
– First, a certain number (n) of sync telegrams must be transmitted (I140x
h
,
subindex 2 = 1 ... 240). Then the PDO telegram must be received from the
master. Finally, the process input data are accepted.
l Event−controlled reception (Lenze setting)
The transmission mode is configured via the index I1800
h
, subindex 2
(PDO1−Tx) ... I1809
h
, subindex 2 (PDO10−Tx):
l Sync−controlled transmission
l n−sync−controlled transmission
– First, a certain number (n) of sync telegrams must be transmitted (I180x
h
,
subindex 2 = 2 ... 240). Then, the PDO telegram is transmitted to the
master.
l Event−controlled transmission (Lenze setting)
)
Note!
After changing to the CAN state "Operational", the current
process image is transmitted from the I/O system IP20.
Process data transmission mode
Process output data
transmission method