Lenze L-force HighLine C 8400 Series Reference Manual page 622

8400 HighLine C | Reference manual
System bus "CAN on board"
Structure of the CAN data telegram
Node address (node ID)
Every node of the system bus network must be assigned to a node address (also called node
ID) within the valid address range (1 ... 127) for unambiguous identification.
 Assigning a node address more than once within a network is impermissible.
 The own node address can be configured via the DIP switches or via code C00350.
Setting the node address
Identifier assignment
The system bus is message-oriented instead of node-oriented. Every message has an
unambiguous identification, the identifier. For CANopen, node-oriented transfer is
achieved by the fact that every message has only one transmitter.
 The basic identifiers for network management (NMT) and sync as well as the basic SDO
channel (SDO1) are defined in the CANopen protocol and cannot be changed.
 In the Lenze setting, the basic identifiers of the PDOs are preset according to the
"Predefined connection set" of DS301, V4.02 and can be changed via
parameters/indexes if required.
Object
Network management (NMT)
1)
Sync
1)
Emergency
PDO1
(Process data channel 1)
PDO2
(Process data channel 2)
PDO3
(Process data channel 3)
SDO1
(Parameter data channel 1)
SDO2
(Parameter data channel 2)
Heartbeat
Boot-up
1) If you set the sync transmit/receive identifier manually, observe the use of the emergency telegram, since it has the same
COB-ID.
622
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( 618)
Identifiers of the process data objects
Direction
from device to device
TPDO1
RPDO1
TPDO2
RPDO2
TPDO3
RPDO3
TSDO1
RSDO1
TSDO2
RSDO2
L
( 636)
Lenze-Base-ID CANopen-Base-ID
dec hex dec
0 0 0
128 80 128
128 80 128
384 180 384
512 200 512
640 280 640
641 281 768
768 300 896
769 301 1024
1408 580 1408
1536 600 1536
1472 5C0 1472
1600 640 1600
1792 700 1792
1792 700 1792
Firmware ≤ 11.00 - DMS 6.0 EN - 10/2011
hex
0
80
80
180
200
280
300
380
400
580
600
5C0
640
700
700