Lenze E84DGFCC Manual do Utilizador descarregar pdf (Página 102)

Communication manual 8400 motec CANopen

Implemented CANopen objects

102 L EDS84DMOTCAN EN 3.0 - 11/2011

I-1800 - TPDO1 communication parameter

Communication parameters for sending process data via TPDO1

[13-15] Data telegram assignment

How to change the identifier:

1. Deactivate identifier (set bit 31 to "1").

2. Change identifier.

3. Activate identifier (set bit 31 to "0").

Index:

I-1800

Name:

TPDO1 communication parameter

Subindex Default setting Setting range (min. value | unit | max. value) Access Data type

0: Highest subindex supported 5 - (read access only) ro U8

1: COB-ID used by TPDO 0x180 + node ID 0 4294967295 rw U32

2: Transmission type 254 0 255 rw U8

3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16

4: Reserved - - (reserved, read or write access results in error

message 0x06090011)

rw U8

5: Event timer 0 ms 0 ms 65535 rw U16

Subindex Meaning Code

0 The value 5 is permanently set.

• Max. 5 subindexesare supported.

1 TPDO1 identifier

• According to the "Predefined Connection Set", the

basic setting is: identifier = 0x180 + node ID

C00354/2

2 TPDO transmission type according to DS301 V4.02

Transmission type

( 52)

C00322/1

3 Minimum time between sending two identical TPDOs

(see DS301 V4.02).

5 Cycle time for PDO transmission with transmission type

"254".

C00356/5

C00369

8th byte 7th byte 6th byte 5th byte

Data 4 Data 3 Data 2 Data 1

Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0

0/1 0/1 Extended identifier* 11-bit identifier

* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".

Bit Setting

Bit 30 0 RTR to this PDO permissible (Lenze).

1 RTR to this PDO not permissible (cannot be set).

Bit 31 0 PDO active

1PDO inactive

1 2 ... 97 98 99 100 101 102 103 104 105 106 107 ... 110 111

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