11 canopen option – Lenze 8400 User Manual
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11
CANopen option
11.6
Structure of the CAN data telegram
638
Lenze · 8400 protec HighLine · Reference manual · DMS 3.0 EN · 03/2013 · TD05
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Node address (node ID)
Every node of the system bus network must be assigned to a node address (also called node ID)
within the valid address range (1 ... 127) for unambiguous identification.
• Assigning a node address more than once within a network is impermissible.
• The own node address can be configured via the DIP switches or via code
Identifier assignment
The system bus is message-oriented instead of node-oriented. Every message has an unambiguous
identification, the identifier. For CANopen, node-oriented transfer is achieved by the fact that every
message has only one transmitter.
• The basic identifiers for network management (NMT) and sync as well as the basic SDO channel
(SDO1) are defined in the CANopen protocol and cannot be changed.
• In the Lenze setting, the basic identifiers of the PDOs are preset according to the "Predefined
connection set" of DS301, V4.02 and can be changed via parameters/indexes if required.
Identifiers of the process data objects
1) If you set the sync transmit/receive identifier manually, observe the use of the emergency telegram, since it has the same
COB-ID.
Object
Direction
Lenze-Base-ID
CANopen-Base-ID
from device
to device
dec
hex
dec
hex
Network management (NMT)
0
0
0
0
Sync
1)
128
80
128
80
Emergency
1)
128
80
128
80
PDO1
(Process data channel 1)
TPDO1
384
180
384
180
RPDO1
512
200
512
200
PDO2
(Process data channel 2)
TPDO2
640
280
640
280
RPDO2
641
281
768
300
PDO3
(Process data channel 3)
TPDO3
768
300
896
380
RPDO3
769
301
1024
400
SDO1
(Parameter data channel 1)
TSDO1
1408
580
1408
580
RSDO1
1536
600
1536
600
SDO2
(Parameter data channel 2)
TSDO2
1472
5C0
1472
5C0
RSDO2
1600
640
1600
640
Heartbeat
1792
700
1792
700
Boot-up
1792
700
1792
700