Lenze ECSCMxxx - Manual (Page 351)

Appendix
Communication with MotionBus/system bus (CAN)
Addressing of the parameter and process data objects
12
l
351 EDBCSXM064 EN 11.0
12.3.5 Addressing of the parameter and process data objects
The CAN bus system is based on a message−oriented data exchange between a transmitter
and many receivers. Thus, all nodes can transmit and receive messages at the same time.
The identifier in the CAN telegram ˘ also called COB−ID (Communication Object Identifier)
controls which node is to receive a transmitted message. With the exception of the
network management (NMT) and the sync telegram (Sync) the identifier contains the
node address of the drive besides the basic identifier:
Identifier (COB−ID) = basic identifier + adjustable node address (node ID)
The basic identifier is preset with the following values:
Object
Direction Basic identifier
to the
ECS module
from the
ECS module
dec hex
NMT 0 0
Sync 128 80
PDO1
(Process data channel 1)
RPDO1
XCAN1_IN
CAN1_IN
CANaux1_IN
X 512 200
TPDO1
XCAN1_OUT
CAN1_OUT
CANaux1_OUT
X 384 180
PDO2
(Process data channel 2)
RPDO2
XCAN2_IN
CAN2_IN
CANaux2_IN
X 640 280
TPDO2
XCAN2_OUT
CAN2_OUT
CANaux2_OUT
X 641 281
PDO3
(Process data channel 3)
RPDO3
XCAN3_IN
CAN3_IN
CANaux3_IN
X 768 300
TPDO3
XCAN3_OUT
CAN3_OUT
CANaux3_OUT
X 769 301
SDO1
(Parameter data channel 1)
X 1536 600
X 1408 580
SDO2
(Parameter data channel 2)
X 1600 640
X 1472 5C0
Node guarding X 1792 700
Display of the resulting identifiers
The display code for the resulting identifiers is for the
ƒ Interface X1 (AIF) C2355.
ƒ Interface X4 (CAN) C0355.
ƒ Interface X14 (CAN−AUX) C2455.
Here, no values can be entered.
ƒ General addressing ( ^ 351):
Identifier (COB−ID) = basic identifier + adjustable node address (node ID)
ƒ Individual addressing ( ^ 201):
Identifier (COB−ID) = 384 + ID offset (C0354 or C2454)