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EDS84DMOTCAN EN 3.0 - 11/2011 L 89

Communication manual 8400 motec CANopen

Implemented CANopen objects

13 Implemented CANopen objects

Lenze devices can be parameterised with both Lenze codes and manufacturer-

independent "CANopen objects". Completely CANopen-compliant

communication can

only be achieved by solely 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 to Lenze codes. The "Relationship to Lenze code"

column of the following table lists the Lenze codes used.

Overview of CANopen indexes and their relationship to Lenze codes

 Note!

Some of the terms used here derive from the CANopen protocol.

CANopen object Relationship to Lenze

code

Index Subindex Name

I-1000

0 Device type -

I-1001

0 Error register -

I-1003

Predefined error field

0 Number of errors -

1 ... 10 Standard error field -

I-1005

0 COB-ID SYNC message C00367

C00368

I-1006 0 Communication cycle period C00369

I-1014 0COB-ID EMCY -

I-1016

Consumer heartbeat time

0 Highest subindex supported -

1 Consumer heartbeat time C00385/1...n

C00386/1...n

I-1017 0 Producer heartbeat time C00381

I-1018 Identity object

0 Highest subindex supported -

1Vendor ID -

2 Product code -

3 Revision number -

4 Serial number -

I-1200

SDO1 server parameter

0 Highest subindex supported -

1 COB-ID client −> server (rx) -

2COB-ID server −> client (tx) -

I-1201

SDO2 server parameter C00366

0 Highest subindex supported

1 COB-ID client −> server (rx)

2COB-ID server −> client (tx)

1 2 ... 84 85 86 87 88 89 90 91 92 93 94 ... 110 111

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