Lenze EMF2175IB - Manual (Page 56)

CANopen
6 Parameter setting
6-28
L
BA2175 EN 2.0
6.4 Implemented CANopen objects
Lenze controllers can be parameterised with Lenze codes (see ( ^ 6-43) ) and
manufacturer-independent “ CANopen objects” . A completely CANopen-conform communication
can only be achieved by using CANopen objects for parameter setting. All CANopen objects
described in these Instructions are defined according to the “ CiA Draft Standard 301/Version 4.01” .
All CANopen objects can also be mapped by Lenze codes. The section “CANopen relation”
describes how a change of CANopen objects influences Lenze codes.
Tip!
Some of the terminology used here derives from the CANopen protocol.
Abbreviations
Authorisation
rw
Write-read authorisation
wo Write-only authorisation
ro Read-only authorisation
const Read-only authorisation, constant value
Data type (see below)
U32
Unsigned integer 4 byte (= 32 bit)
U16 Unsigned integer 2 byte (= 16 bit)
U8 Unsigned integer 1 byte (= 8 bit)
Visible string {length} Character string with indicated {length}
Overview
Index [hex] Subindex
[hex]
Name Data type Authorisation
1000 0 Device type U32 ro
1001 0 Error register U8 ro
1003
0 Recording numbers of error U8 rw
1003
1 Standard error field U32 r0
1005 0 Identifier sync message U32 rw
1006 0 Communication cycle period U32 rw
1008 0 Manufacturer device name Visible string
{9 characters} const
100A 0 Manufacturer software version Vis. string
{11 characters} const
100C 0 Guard time U16 rw
100D 0 Life time factor U8 rw
1010 0 ... 3 Store parameters U32 ro/rw
1011 0 ... 3 Restore default parameters U32 rw/ro
1014 0 COB-ID emergency object U32 rw
1015 0 Inhibit time emergency U16 rw
1018 0 ... 3 Identity object Identity ro
1200/1201 0
1
2 Server SDO parameter
Identifier client
→ Server (rx)
Identifier server → Client (tx)
SDO param ro
1400 Receive PDO1 communication parameter PDO comm. 1400
0 Number of entries
PDO comm.
ro
1 COB-ID used by PDO rw
2 Transmission type rw
1401 Receive PDO2* parameter PDO comm. 1401
0 Number of entries
PDO comm.
ro
1 COB-ID used by PDO rw
2 Transmission type rw
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