Lenze CANopen Controller-based Automation Manuel d'utilisateur télécharger pdf (Page 29)

6 Planning the CANopen network

6.3 Device specifications of the field devices

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

6.3.1 Special features of the 9400 Servo Drives

• The parameter data channel 1 is always active.

•The optional parameter data channels 2 ... 10 can be activated via the subcodes of the codes

Cxx372 and Cxx373.

• If bit 31 is set (0x8nnnnnnn), the corresponding SDO server is deactivated.

• In order to change the COB-ID of a currently active parameter data channel, you have to first

deactivate it and then activate it with a changed COB-ID. Both processes must be rendered

effective by a "Reset Node" command via C00002.

Basic identifier - 9400 Servo Drives

The default setting of the basic identifier is as follows:

1) When creating the sync transmit/receive identifier manually, observe the use of the emergency telegram because

of the same COB-ID.

SDO identifier Code

CANopen SDO server Rx identifier C00372: CAN on board

C13372: Module in slot 1

C14372: Module in slot 2

CANopen SDO server Tx identifier C00373: CAN on board

C13373: Module in slot 1

C14373: Module in slot 2

Object Direction Basic identifier

from the drive to the drive Dec hex

NMT 0 0x000

Sync 1) 128 0x080

Emergency  128 0x080

PDO1

(Process data channel 1)

TPDO1

 384 0x180

RPDO1

 512 0x200

PDO2

(Process data channel 2)

TPDO2

 640 0x280

RPDO2

 768 0x300

PDO3

(Process data channel 3)

TPDO3

 896 0x380

RPDO3

 1024 0x400

PDO4

(Process data channel 4)

TPDO4

 1152 0x480

RPDO4

 1280 0x500

SDO1

(Parameter data channel 1)

TSDO1

 1408 0x580

RSDO1

 1536 0x600

SDO2 ... 10

(Parameter data channel 2 ... 10)

TSDOx

 1472 0x5C0

RSDOx

 1600 0x640

Node guarding, heartbeat  1792 0x700

1 2 ... 24 25 26 27 28 29 30 31 32 33 34 ... 109 110

Commentaires sur ces manuels

Pas de commentaire

Lenze CANopen Controller-based Automation Manuel d'utilisateur Page 29

Commentaires sur ces manuels

Produits connexes et manuels pour Équipement Lenze CANopen Controller-based Automation