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EDS84DMOTCAN EN 3.0 - 11/2011 L 51

Communication manual 8400 motec CANopen

Process data transfer

Identifiers of the process data objects

8.3 Identifiers of the process data objects

In the Lenze setting, the identifier for the process data objects PDO1 and PDO2 consists of

a basic identifier (CANBaseID) and the node address set in C00350

Identifier (COB-ID) = basic identifier + 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 set individually

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

 Note!

After a node address change (C00350) and a subsequent CAN reset node, the

subcodes of C00354

automatically resume the values which result from the

respective basic identifier and the node address set.

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

C00354/1

COBID CAN1_IN 0x00000201

C00354/2

COBID CAN1_OUT 0x00000181

C00354/3

COBID CAN2_IN 0x00000301

C00354/4

COBID CAN2_OUT 0x00000281

1 2 ... 46 47 48 49 50 51 52 53 54 55 56 ... 110 111

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