Implemented Canopen Objects - Lenze L-force HighLine C 8400 Series Reference Manual

8400 HighLine C | Reference manual
System bus "CAN on board"

Implemented CANopen objects

10.11 Implemented CANopen objects
Lenze devices can both be parameterised with Lenze codes and manufacturer-
independent "CANopen objects". A completely CANopen-compliant communication can
only be achieved by using CANopen objects for parameter setting. The CANopen objects
described in this chapter are defined in the CAN specification DS301 V4.02.
Many CANopen objects can be mapped on Lenze codes. In the following table, the
corresponding Lenze codes are listed in the column "Relationship to Lenze codes".

Note!
Some of the terms used here derive from the CANopen protocol.
Overview of CANopen indices and their relationship to Lenze codes
CANopen object
Index
I-1000
I-1001
I-1003
I-1005
I-1006
I-1014
I-1016
I-1017
I-1018
I-1200
I-1201
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Subindex Name
0 Device type
0 Error register
Predefined error field
0 Number of errors
1 ... 10 Standard error field
0 COB-ID SYNC message
0 Communication cycle period
0 COB-ID EMCY
Consumer heartbeat time
0 Highest subindex supported
1 ... n Consumer heartbeat time
• "BaseLine C" version: n = 1
• "StateLine" version: n = 7
• "HighLine" version: n = 15
0 Producer heartbeat time
Identity object
0 Highest subindex supported
1 Vendor ID
2 Product code
3 Revision number
4 Serial number
SDO1 server parameter
0 Highest subindex supported
1 COB-ID client −> server (rx)
2 COB-ID server −> client (tx)
SDO2 server parameter
0 Highest subindex supported
1 COB-ID client −> server (rx)
2 COB-ID server −> client (tx)
L
Relationship to Lenze
code
-
-
-
-
C00367
C00368
C00369
-
-
C00385/1...n
C00386/1...n
C00381
-
-
-
-
-
-
-
-
-
-
-
Firmware ≤ 11.00 - DMS 6.0 EN - 10/2011