8400 StateLine C | Reference manual
System bus "CAN on board"
Process data transfer
450
L
Firmware
≤
11.00 - DMS 8.0 EN - 10/2011
10.8.2
Identifiers of the process data objects
In the Lenze setting, the identifier for process data objects PDO1 ... PDO3 consists of a so-
called basic identifier (CANBaseID) and the node address set in
C00350
:
Identifier (COB-ID) = basic iden node address (node ID)
The basic identifiers of the PDOs comply with the "Predefined connection set" of
DS301, V4.02.
Alternatively, define via code
C00353
that the identifiers of the PDOs are to be assigned
according to Lenze definition or that individual settings are to be made.
– If
C00353
= "2: COBID = C0354/x", the identifiers of the PDOs can be individually set
via the Lenze 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
C00354/1
I-1400/1
TPDO1
384
0x180
C00354/2
I-1800/1
PDO2
RPDO2
768
0x300
C00354/3
I-1401/1
TPDO2
640
0x280
C00354/4
I-1801/1
PDO3
RPDO3
1024
0x400
C00354/5
I-1402/1
TPDO3
896
0x380
C00354/6
I-1802/1
Note!
After a node address change (
C00350
) and a CAN reset node afterwards, the
subcodes of
C00354
automatically resume the values which result from the
respective basic identifier and the set node address.
Parameter
Info
Lenze setting
Value Unit
C00353/1
COBID source CAN1_IN/OUT
0: COBID = C0350 + CANBaseID
C00353/2
COBID source CAN2_IN/OUT
0: COBID = C0350 + CANBaseID
C00353/3
COBID source CAN3_IN/OUT
0: COBID = C0350 + CANBaseID
C00354/1
COBID CAN1_IN
0x00000201
C00354/2
COBID CAN1_OUT
0x00000181
C00354/3
COBID CAN2_IN
0x00000301
C00354/4
COBID CAN2_OUT
0x00000281
C00354/5
COBID CAN3_IN
0x00000401
C00354/6
COBID CAN3_OUT
0x00000381
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
