Lenze 8400 BaseLine C - Manual (Page 189)

Lenze · 8400 BaseLine C · Reference manual · DMS 1.6 EN · 01/2014 · TD05
189
9 System bus "CAN on board"
9.6 Process data transfer
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9.6.2 Identifiers of the process data objects
In the Lenze setting, the identifier for process data objects PDO1 ... PDO2 consists of a so-called basic
identifier (CANBaseID) and the node address set in C350 :
Identifier (COB-ID) = basic identifier + node address (node ID)
• The basic identifiers of the PDOs comply with the "Predefined connection set" of DS301, V4.02.
• Alternatively, you can define via code
C353 that the identifiers of the PDOs are to be assigned
according to Lenze definition or that individual settings are to be made.
• If C353 = "2: COBID = C0354/x" the identifiers of the PDOs can be individually set via the Len-
ze codes and CANopen indexes listed in the table below. That way, identifiers independent of
the node address can be set for specific PDOs.
.
• If identifiers are assigned individually, all PDOs must have basic identifier values in the range
of 385 ... 1407.
Short overview: Parameters for setting the identifiers
Process data object Basic identifier Individual setting
dec hex Lenze code CANopen index
PDO1
RPDO1 512 0x200 C354/1 I-1400/1
TPDO1 384 0x180 C354/2 I-1800/1
PDO2
RPDO2 768 0x300 C354/3 I-1401/1
TPDO2 640 0x280 C354/4 I-1801/1

Note!
After a node address change ( C350 ) and a CAN reset node afterwards, the subcodes of
C354 automatically resume the values which result from the respective basic identifier
and the set node address.
Parameter Info Lenze setting
Value Unit
C353/1 COBID source CAN1_IN/OUT 0: COBID = C0350 + CANBaseID
C353/2 COBID source CAN2_IN/OUT 0: COBID = C0350 + CANBaseID
C354/1 COBID CAN1_IN 0x00000201
C354/2 COBID CAN1_OUT 0x00000181
C354/3 COBID CAN2_IN 0x00000301
C354/4 COBID CAN2_OUT 0x00000281