Lenze 8400 - Manual (Page 645)

Lenze · 8400 protec HighLine · Reference manual · DMS 3.0 EN · 03/2013 · TD05
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11 CANopen option
11.8 Process data transfer
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11.8.1 Available process data objects
Controllers of the 8400 series have a maximum number of 3 receive PDOs (RPDOs) and 3 transmit
PDOs (TPDOs).
Receive PDOs (RPDOs)
The process data objects transmitted from the system bus to the drive are processed via the
LP_CanIn1 ... LP_CanIn3 port blocks.
• Every port block provides 4 words (2 bytes/word). The data of every first word are provided in a
bit decoded manner (bit 0 ... 15).
• The first word of the LP_CanIn1 port block is defined as control word wCtrl. The wCtrl control
word does not have a permanent connection to the device control and can be used as required.
The predefined assignment of the wCtrl control word in the C00007 = "30: CAN" control mode
depends on the technology application selected in C00005 :
• TA "Actuating drive speed":
Process data assignment for fieldbus communication ( 368)
• TA "Table positioning":
Process data assignment for fieldbus communication ( 398)
• TA "Abschaltpositionierung":
Process data assignment for fieldbus communication ( 424)
Transmit PDOs (TPDOs)
The process data transmitted from the drive to the system bus are processed via the
LP_CanOut1 ... LP_CanOut3 port blocks.
• Every port block receives 4 words (2 bytes/word). The data of every first word are transmitted
bit by bit (bit 0 ... 15).
• The first word of the LP_CanOut1 port block is defined as the wState status word. The wState
status word does not have a permanent connection to the device control and can be used as
required.
• Vordefinierte Belegung siehe wDeviceStatusWord status word der Antriebsschnittstelle.
Process data object Version
"BaseLine C"
from version
"StateLine"
RPDO1 | Port block "LP_CanIn1"  
RPDO2 | "LP_CanIn2" port block  
RPDO3 | "LP_CanIn3" port block 
TPDO1 | "LP_CanOut1" port block  
TPDO2 | "LP_CanOut2" port block  
TPDO3 | "LP_CanOut3" port block 