Lenze E94AxHE Technology Application CiA402 Device profile User Manual
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Drive initialisation
26
L
EDS94TA11010xxxx EN 1.2 - 03/2010
3.4.2
Example of a typical drive initialisation for CANopen
Basic conditions
The communication takes place via the system bus (CANopen).
The controller is assigned device address "1".
The PDO1-Rx to the controller contains the following objects:
–
: Controlword
–
: Interpolation data record/X1
The PDO1-Tx from the controller contains the following objects:
–
: Statusword
–
: Position actual value
The "
" operating mode is selected.
The synchronisation of the Servo Drive 9400 must be set via code C01120 (sync source).
The cycle time of the sync data transmission of the Servo Drive 9400 must be set via
code C01121 (sync cycle time).
Sequence
Detailed information on CANopen is provided in the Lenze library in the "CAN"
communication manual.
Communication service
Object
Value
Information
Change of the communication status
NMT
-
-
Switch drive to the PREOPERATIONAL
communication status.
Drive identification
SDO read request
0x1000
-
Check if the drive supports the CiA402 Canopen
device profile.
SDO read request
0x1018/1
-
Manufacturer's identification mark
SDO read request
0x1018/2
-
Product identification
SDO read request
0x1018/3
-
Revision number
SDO read request
0x1008
-
Manufacturer's device name
Initialisation of communication profile objects
SDO read request
0x1010
Manufacturer's software version
SDO write request
0x1005
0x80
Set COB-ID for the SYNC telegram.
SDO write request
0x1014
0x81
Set COB-ID for the EMCY telegram.
PDO mapping
SDO write request
0x1800/1
0x181
Set COB-ID for the transmit process data (PDO1-Tx).
SDO write request
0x1800/2
1
Set transmission mode for the transmit process data
(PDO1-Tx): synchronously for each SYNC telegram.
SDO write request
0x1400/1
0x201
Set COB-ID for the receipt process data (PDO1-Rx).
SDO write request
0x1400/2
1
Set transmission mode for the receipt process data
(PDO1-Rx): synchronously for each SYNC telegram.