I-1400/1, I-1400, 12 system bus "can on board – Lenze 8400 TopLine User Manual
Page 814
12
System bus "CAN on board"
12.11
Implemented CANopen objects | I-1400
814
Lenze · 8400 TopLine · Reference manual · DMS 6.0 EN · 06/2014 · TD05/TD14
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I-1400
Communication parameter for receiving process data via RPDO1
[12-11] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Description of subindex 1
[12-12] I-1400 ... I-1402, subindex 1
Index:
I-1400
Name:
RPDO1 communication parameter
Subindex
Default setting
Setting range (min. value | unit | max. value)
Access
Data type
0: Highest subindex supported
5
- (read access only)
ro
U8
1: COB-ID used by RPDO
0x200 + node ID
0
4294967295 rw
U32
2: Transmission type
254
0
255 rw
U8
3: Inhibit time
-
- (not used for RPDOs)
rw
U16
4: Compatibility entry
-
- (reserved, read or write access leads to error message
0x06090011)
rw
U8
5: Event timer
-
- (not used for RPDOs)
rw
U16
Subindex
Meaning
Code
0
"5" is permanently set.
• Max. 5 subindices are supported.
-
1
RPDO1 identifier
• According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x200 + node ID
2
RPDO transmission type according to DS301 V4.02
8th byte
7th byte
6th byte
5th byte
Data 4
Data 3
Data 2
Data 1
Bit 31
Bit 30
Bit 29 ... bit 11
Bit 10 ... bit 0
0/1
0/1
Extended identifier*
11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
Bit no.
Value
Explanation
0 ... 10
0/1
11-bit identifier
(11 ... 28)*
0
*) The extended identifier (29 bits) is not supported. Any of these bits must be "0".
29*
0
30
0
RTR to this PDO possible (cannot be set)
1
RTR to this PDO not possible (Lenze)
31
0
PDO active
1
PDO not active