Lenze E84DGFCC User Manual

EDS84DMOTCAN
13395082

Ä.HSsä

L-force Communication

Communication Manual

8400 motec

E84DGFCCxxx

CANopen communication unit

L

2 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

Contents

Contents

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.1 Document history

1.2 Conventions used

1.3 Terminology used

1.4 Notes used

2 Safety instructions

2.1 General safety and application instructions

2.2 Device and application-specific safety instructions

2.3 Residual hazards

3 Product description

3.1 Application as directed

3.2 Product features and variants

3.3 Connections and interfaces

4 Technical data

4.1 General data and operating conditions of the CANopen

4.2 Supported protocols

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4.3 Communication time

5 Installation

5.1 Mechanical installation

5.2 Electrical installation

6 Commissioning

6.1 Before initial switch-on

6.2 Configuring the host (master)

6.3 Possible settings via DIP switch

6.4 Settings in the Lenze »Engineer«

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5.2.1 Network topology

5.2.2 Bus termination

5.2.3 Specification of the bus cable

5.2.4 Bus cable length

5.2.5 CANopen connection

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6.3.1 Setting the baud rate

6.3.2 Setting the CAN node address

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6.5 Initial switch-on

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Communication manual 8400 motec CANopen

Contents

7 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

7.1 Structure of the CAN data telegram

7.1.1 Identifier

7.1.2 User data

7.2 Communication phases/network management

7.2.1 State transitions

7.2.2 Network management telegram (NMT)

7.2.3 Parameterising the Inverter Drives 8400 motec as CAN master

8 Process data transfer

8.1 Access to process data / PDO mapping

8.2 Port interconnection of the process data objects (PDO)

8.3 Identifiers of the process data objects

8.4 Transmission type

8.5 PDO synchronisation via sync telegram

9 Parameter data transfer

9.1 Identifiers of the parameter data objects

9.2 User data

9.2.1 Command

9.2.2 Addressing by means of index and subindex

9.2.3 Data 1 ... data 4

9.2.4 Error messages

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9.3 Parameter data telegram examples

9.3.1 Reading parameters

9.3.2 Write parameters

9.3.3 Reading block parameters

10 Monitoring

10.1 Monitoring of the RPDOs for data reception

10.2 Integrated error detection

10.3 Heartbeat protocol

10.4 Emergency telegram

11 Diagnostics

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10.3.1 Telegram structure

10.3.2 Parameter setting

10.3.3 Commissioning example

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4 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

Contents

12 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

12.1 Communication-relevant parameters of the operating system

12.2 Parameters for CANopen communication

12.3 Table of attributes

13 Implemented CANopen objects

14 DIP switch positions for setting the CAN node address

15 Index

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Communication manual 8400 motec CANopen

About this documentation

1 About this documentation

Contents

This documentation exclusively describes the system bus (CAN) and the CANopen-specific
functions of the Inverter Drive 8400 motec.

 Note!

This documentation supplements the mounting instructions and the hardware
manual "Inverter Drives 8400 motec" supplied with the controller.

The features of the system bus (CAN) and CANopen-specific functions for the Inverter Drive
8400 motec are described in detail.

Typical applications are explained with the help of examples.

This documentation also contains ...

 the most important technical data for CAN communication;

 information on the installation and commissioning of the CAN network;
 information on CAN data transfer, CAN monitoring functions, communication-relevant

parameters and implemented CAN objects.

The theoretical concepts are only explained to the level of detail required to understand
the function of CAN communication with Inverter Drives 8400 motec.

Depending on the software version of the controller and of the »Engineer« software
installed, the screenshots in this documentation may vary from the »Engineer«
representation.

This documentation does not describe the software of other manufacturers. No
responsibility is taken for corresponding information given in this documentation.
Information on how to use the software can be obtained from the documents of the host
(master).

All brand names used in this documentation are trademarks of their respective owners.

 Tip!

Detailed information about the system bus (CAN) can be found on the website of
the CAN user organisation CiA (CAN in Automation):

www.can-cia.org

6 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

About this documentation

Target group

This documentation is intended for all persons who plan, install, commission and maintain
the networking and remote service of a machine.

 Tip!

Information and software updates for Lenze products can be found in the
Download area at:

www.Lenze.com

Information regarding the validity

The information given in this documentation is valid for the following devices:

Product series Type designation Variant

Inverter Drives 8400 motec

CANopen communication unit

Product features and variants

E84DGFCCxNx CANopen

E84DGFCCxJx CANopen + safety

( 15)

EDS84DMOTCAN EN 3.0 - 11/2011 L 7

Communication manual 8400 motec CANopen

About this documentation
Document history

1.1 Document history

Version Description

1.0 09/2010 TD17 First edition

2.0 01/2011 TD17 Update of the ...

• Parameters for CANopen communication

• »Engineer« screenshots

3.0 11/2011 TD17 General revision

Your opinion is important to us!

These instructions were created to the best of our knowledge and belief to give you the
best possible support for handling our product.

If you have suggestions for improvement, please e-mail us to:

[e-mail]

Thank you for your support.

( 76) (version 02.00)

Your Lenze documentation team

8 L EDS84DMOTCAN EN 3.0 - 11/2011

1.2 Conventions used

This manual uses the following conventions to distinguish between different types of
information:

Type of information Writing Examples/notes

Numbers

Decimal Standard notation Example: 1234

Hexadecimal 0x[0 ... 9, A ... F] Example: 0x60F4

Binary

• Nibble

Decimal separator Point The decimal point is always used.

Text

Program name » « PC software

Control element Bold The OK button... / The Copy command... / The

Hyperlink Underlined

Symbols

Page reference ( 9) Optically highlighted reference to another page. Can

Step-by-step instructions

Communication manual 8400 motec CANopen

About this documentation

Conventions used

In inverted commas

Point



Example: ’100’
Example: ’0110.0100’

Example: 1234.56

Example: Lenze »Engineer«

Properties tab... / The Name input field...

Optically highlighted reference to another topic. Can
be activated with a mouse-click in this
documentation.

be activated with a mouse-click in this
documentation.

Step-by-step instructions are indicated by a
pictograph.

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Communication manual 8400 motec CANopen

About this documentation
Terminology used

1.3 Terminology used

Term Meaning

Controller Lenze frequency inverter of the "Inverter Drives 8400 motec" product series

Standard device

The 8400 motec controller consists of the following modules: "drive unit",
"communication unit", and "wiring unit".

• The drive unit is available in various power classes.

• The communication unit is available in the following versions:
–No fieldbus
–AS-i option
–CANopen option
–PROFIBUS option
–PROFINET option
–EtherCAT option

• The wiring unit provides flexible connection options for an easy integration
into the power supply of the machine.

diagnosing, and configuring) during the entire life cycle, i.e. from planning to
maintenance of the commissioned machine.

usage, the term is usually referred to as "Index".

"subcodes".
In this documentation a slash "/" is used as a separator between the code and
subcode (e.g. "C00118/3").
In normal usage, the term is also referred to as "Subindex".

Drive unit
Communication unit
Wiring unit

»Engineer« PC software from Lenze which supports you in "engineering" (parameter setting,

Code Parameter which serves to parameterise and monitor the controller. In normal

Subcode If a code contains more than one parameter, these parameters are stored in

Lenze setting These are settings with which the device is preconfigured ex works.

Basic setting

HW Hardware

SW Software

 Note!

Some of the terms used originate from the CANopen protocol.

10 L EDS84DMOTCAN EN 3.0 - 11/2011

1.4 Notes used

The following signal words and symbols are used in this documentation to indicate
dangers and important information:

Safety instructions

Structure of safety instructions:

 Pictograph and signal word!

(characterise the type and severity of danger)

Note

(describes the danger and suggests how to avoid the danger)

Pictograph Signal word Meaning







Communication manual 8400 motec CANopen

About this documentation

Danger! Danger of personal injury through dangerous electrical voltage

Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.

Danger! Danger of personal injury through a general source of danger

Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.

Stop! Danger of property damage

Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.

Notes used

Application notes

Pictograph Signal word Meaning

Note! Important note for trouble-free operation



Tip! Useful tip for simple handling



Reference to other documents



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Communication manual 8400 motec CANopen

Safety instructions
General safety and application instructions

2 Safety instructions

 Note!

Always observe the specified safety measures to avoid severe injury to persons
and damage to property!

Always keep this documentation to hand in the vicinity of the product during
operation.

2.1 General safety and application instructions

 Danger!

Disregarding the following basic safety measures may lead to severe personal
injury and damage to material assets.

 Lenze drive and automation components ...

– must only be used as directed.

Application as directed

– must never be commissioned in the event of visible damage.
– must never be technically modified.
– must never be commissioned before they have been completely mounted.
– must never be operated without the covers required.
– can - depending on the degree of protection - have live, movable or rotating parts

during operation and after operation. Surfaces can be hot.

 For Lenze drive components ...

– use only the accessories approved.
– use only original spare parts from the manufacturer.

 Observe all specifications given in the attached and associated documentation.

– This is the precondition for safe and trouble-free operation and for achieving the

specified product features.

Product features and variants

– The procedural notes and circuit details described in this document are only

proposals. It is up to the user to check whether they can be adapted to the particular

applications. Lenze does not take any responsibility for the suitability of the

procedures and circuit proposals described.

( 14)

( 15)

12 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

Device and application-specific safety instructions

 Only qualified personnel may work with and on Lenze drive and automation

components. In accordance with IEC 60364 and CENELEC, these are persons ...
– who are familiar with the installation, assembly, commissioning, and operation of

the product.
– who have the corresponding qualifications for their work.
– who know all regulations for the prevention of accidents, directives and laws

applicable on site and are able to apply them.

2.2 Device and application-specific safety instructions

 During operation, the communication unit must be connected to the wiring unit and

the drive unit.

 With external voltage supply, always use a separate power supply unit, safely

separated in accordance with EN 61800-5-1 in every control cabinet ("SELV"/"PELV").

 Only use cables that correspond to the given specifications.

Specification of the bus cable

( 26)

Safety instructions

 Documentation of "Inverter Drives 8400 motec", control system, plant/machine

All other measures prescribed in this documentation must also be implemented.
Observe the safety instructions and application notes specified in the
documentation.

2.3 Residual hazards

Device protection

 The communication unit contains electronic components that can be damaged or

destroyed by electrostatic discharge.

Installation

( 22)

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Communication manual 8400 motec CANopen

Product description
Application as directed

3 Product description

3.1 Application as directed

The CANopen communication unit ...

 is a unit that can only be used in conjunction with the following modules:

Product series Type designation

Inverter Drives 8400 motec

Drive unit

Inverter Drives 8400 motec

Wiring unit

 is a device intended for use in industrial power systems.

 may only be operated under the operating conditions specified in this documentation.

E84DGDVxxxxxxxx

E84DGVNxx

 may only be used in CANopen networks.

 can also be used without being connected to the CANopen network.

Any other use shall be deemed inappropriate!

14 L EDS84DMOTCAN EN 3.0 - 11/2011

3.2 Product features and variants

The CANopen communication unit is available in the following versions:

Product series Type designation Features

Inverter Drives 8400 motec

CANopen communication unit

 The CANopen communication unit ...

– is mounted on the wiring unit (E84DGVNxx);
– is exclusively supplied internally by the drive unit (E84DGDVxxxxxxxx).

Communication manual 8400 motec CANopen

Product description

Product features and variants

Enclosure

IP 65

CANopen

M12

I/O: Terminal

E84DGFCCANP zz z

E84DGFCC9NP zzz

E84DGFCCAJP zz zz

E84DGFCC9JP zzz z

I/O: M12

Safety

 The I/O connections can be led into the device via M12 connectors or by means of cable

glands.

 In the E84DGFCC9xx version, a maximum of four digital inputs is conducted on M12

connectors (see "Inverter Drives 8400 motec" hardware manual).

 Devices without an integrated safety system (safety option) have no analog input and

no relay output.

 In the case of the E84DGFCCxJx communication units, the integrated safety system can

be used for the protection of persons on machines.

 Setting of the CAN node address and baud rate is possible via DIP switch or code.

 Communication with the Lenze »Engineer« (access to all Lenze parameters) is

preferably carried out via the CAN bus. Furthermore communication can be effected via
the diagnostic interface of the drive unit.

 "Inverter Drives 8400 motec" hardware manual

Here you'll find detailed information on the integrated safety system (safety
option).

Software manual / »Engineer« online help "Inverter Drives 8400 motec"

Here you will find detailed information on how to configure the safety system
(safety option).

EDS84DMOTCAN EN 3.0 - 11/2011 L 15

Communication manual 8400 motec CANopen

Product description
Product features and variants

The system bus (CANopen) of the Inverter Drives 8400 motec is the advanced version of the
system bus (CAN) and includes the following features:

 Full compatibility according to CANopen DS301, V4.02.

 Support of the "Heartbeat" NMT slave function (DS301, V4.02).
 Number of parameterisable server SDO channels:

– Max. 2 channels with 1 ... 8 bytes
– Because of the 2 server SDO channels, the address range from 1 ... 63 is available.

 Number of parameterisable PDO channels:

– Max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
– Max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)

 All PDO channels are functionally equivalent.

 Monitoring of the RPDOs for data reception

 Adjustable error response to ...

– physical CAN errors (frame, bit, ACK error)
– bus-stop, bus-working
– missing PDOs

 Telegram counters for SDOs and PDOs

 Bus status diagnostics

 Boot-up telegram generation
 Emergency telegram generation

 Reset node telegram generation (in the case of master configuration)

 Sync telegram generation and response to sync telegrams:

– Data transmission/reception
– Device-internal time base synchronisation

 Abort codes

 Object directory (all mandatory functions, optional functions, indexes)

16 L EDS84DMOTCAN EN 3.0 - 11/2011

3.3 Connections and interfaces

Communication manual 8400 motec CANopen

Product description

Connections and interfaces

[3-1] CANopen communication unit

Pos. Description

DIP DIP switch

Possible settings via DIP switch

A2 CANopen input (M12 pins, 5-pole)

CANopen connection

A3 CANopen output (M12 socket, 5-pole)

CANopen connection

A1 / A4 Positions for further freely designable inputs and outputs:

B1 ... B4

X3 / X4 / X61 Terminal strips for wiring the connectors at A1 ... A4 and B1 ... B4

X5 Plug connector for connection to the drive unit

• Digital inputs

•Digital output

• Analog input (only for E84DGFCCxJx)

• Relay output (only for E84DGFCCxJx)

• Connection of safety system "Safety Option" (only for E84DGFCCxJx)

E84DG002

( 32)

( 29)

( 29)

EDS84DMOTCAN EN 3.0 - 11/2011 L 17

Communication manual 8400 motec CANopen

Product description
Connections and interfaces

 By default, the CANopen connectors are already pre-assembled and wired with the

terminal strip X3.

 The CANopen connections and further connections (e.g. digital inputs) can be freely

designed at the positions A1 ... A4 and B1 ... B4..

 The connections can be equipped with 5-pole M12 connectors, or optionally with cable

glands (cable cross-section max. 1.0 mm

 The M12 connectors, cable glands and prefabricated system cables can be obtained

from various manufacturers.

 Wire the M12 connectors or cable glands used to the corresponding contacts of

terminal strips X3, X4, and X61.

2

, AWG 18).

 "Inverter Drives 8400 motec" hardware manual

Observe the notes and wiring instructions given in the documentation.

18 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

General data and operating conditions of the CANopen

4 Technical data

 "Inverter Drives 8400 motec" hardware manual

Here you will find the ambient conditions and information on the
electromagnetic compatibility (EMC) that also apply to the communication unit.

4.1 General data and operating conditions of the CANopen

Field Values

Order designation • E84DGFCCxNx (CANopen)

• E84DGFCCxJx (CANopen + Safety)

Communication profile CANopen, DS301 V4.02

Communication medium DIN ISO 11898

Interface • CANopen input: M12 pins, 5-pole, A-coded

• CANopen output: M12 socket, 5-pole, A-coded

Network topology Line terminated on both sides

Adjustable node address 1 ... 63 (can be set via DIP switch or code C00350

Max. number of nodes 63

Baud rate [kbps] 20, 50, 125, 250, 500, 800, 1000 kbps, adjustable via DIP switches or code

C00351

Process data • Max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)

• Max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)

Parameter data Max. 2 server SDO channels with 1 ... 8 bytes

Transmission mode for TPDOs • With change of data

• Time-controlled, 1 to x ms

• After the reception of 1 to 240 sync telegrams

Conformities, approvals • CE

•UR / cUR

Technical data

)

EDS84DMOTCAN EN 3.0 - 11/2011 L 19

Communication manual 8400 motec CANopen

Technical data
Supported protocols

4.2 Supported protocols

Protocols

Standard PDO protocols PDO write

PDO read

SDO protocols SDO download

SDO download initiate
SDO download segment

SDO upload
SDO upload initiate
SDO upload segment

SDO abort transfer

SDO block download
SDO block download initiate
SDO block download end

SDO block upload
SDO block upload initiate
SDO block upload end

NMT protocols Start remote node (master and slave)

Stop remote node (slave)

Enter pre-operational (slave)

Reset node (slave and local device)

Reset communication protocol (slave)

Monitoring protocols Heartbeat (heartbeat producer and heartbeat consumer)

• 1 Heartbeat Producer can be monitored.

Emergency telegram (to master)

20 L EDS84DMOTCAN EN 3.0 - 11/2011

4.3 Communication time

The communication time is the time between the start of a request and the arrival of the
corresponding response.

The communication times in a CANopen network depend on ...

 the processing time in the controller;
 the telegram runtime (baud rate / telegram length);

 the nesting depth of the network.

Processing time in the controller

Data Processing time

Process data Approx. 2 ms

Parameter data Approx. 30 ms + 20 ms tolerance (typical)

Communication manual 8400 motec CANopen

Technical data

Communication time

update cycle
+ 0 ... 1 ms
+ 1 ... x ms

• For some codes, the processing time may be longer (see software
manual/»Engineer« online help "Inverter Drives 8400 motec").

processing time in the module
application task runtime of the technology application used

(tolerance)

There are no interdependencies between parameter data and process data.

EDS84DMOTCAN EN 3.0 - 11/2011 L 21

Communication manual 8400 motec CANopen

Installation

5 Installation

 Stop!

Electrostatic discharge

Electronic components within the communication unit can be damaged or
destroyed by electrostatic discharge.

Possible consequences:

• The communication unit is defective.

• Communication via the fieldbus is not possible or faulty.

• I/O signals are faulty.

• The safety function is faulty.

Protective measures

• Discharge electrostatic charges before touching the communication unit.

22 L EDS84DMOTCAN EN 3.0 - 11/2011

5.1 Mechanical installation

 Mounting instructions for "Inverter Drives 8400 motec"

Here you will find detailed information on the installation.

0.37 ... 3.0 kW 4.0 ... 7.5 kW

Communication manual 8400 motec CANopen

Installation

Mechanical installation

[5-1] Mechanical installation of the 8400 motec components

Legend for Fig. [5-1]

1 Drive unit

2 Communication unit

3 Wiring unit

A Cover of the drive unit

EDK84DG... Mounting instructions for the drive unit, communication unit, wiring unit

E84DG023a

E84DG023b

EDS84DMOTCAN EN 3.0 - 11/2011 L 23

Communication manual 8400 motec CANopen

Installation
Electrical installation

5.2 Electrical installation

 "Inverter Drives 8400 motec" hardware manual

Here you'll find detailed information on ...

• the digital and analog inputs and outputs;

• the relay output;

• the integrated safety system (safety option);

• the wiring of the connections.

Observe the notes and wiring instructions given in the documentation.

5.2.1 Network topology

The following examples show two simple CAN networks.

Each segment of the network must be terminated at both ends by resistors (120 Ω)
between CAN-Low and CAN-High. The bus terminators of the system bus (CAN) are marked
with a "Z" in the following examples.

A CAN network consisting of only one segment starts with the CAN master (M) with
integrated bus termination, whereas the last CAN node (S) has to be terminated by a bus
terminating resistor.

Bus termination

( 25)

M

Z

Z

S SS

1

[5-2] CAN network with one segment

E94YCPM012a

24 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

Installation

Electrical installation

A CAN network consisting of several segments contains repeaters (R) for connecting the
segments. The repeaters are provided with integrated bus terminations.

Consider the use of repeaters

( 28)

M

Z

Z

Z

R

Z

Z

R

Z

[5-3] CAN network with repeaters

If no repeater is to be used at the end of the segment, the bus must be terminated by a bus
terminating resistor at the last node (S). The bus termination is supplied by the node itself.

5.2.2 Bus termination

The system bus (CANopen) must be terminated through a bus terminating resistor at the
first and last physical node (120 Ω).

In the case of the communication unit, the bus terminating resistor can only be installed
externally at the M12 connector. This has the advantage that the presence of the resistor
can be identified on the closed device.

 Note!

• The CANopen terminals (input and output) must be installed so that they are
closed. For this purpose either use a connecting cable, a closed terminating
resistor plug (M12 pins, 5-pole, A-coded), or a cap.

• The connecting cable and terminating resistor plug can be procured freely
from various cable manufacturers (e.g. Lapp or Turck).

• If you want to disconnect individual nodes, ensure that the bus terminations
at the cable ends remain active. Otherwise the bus may become instable.

• Observe that the bus terminator is no longer active when the terminating
resistor plug has been removed.

S SS

S S

1 23

E94YCPM012b

EDS84DMOTCAN EN 3.0 - 11/2011 L 25

Communication manual 8400 motec CANopen

Installation
Electrical installation

5.2.3 Specification of the bus cable

We recommend the use of CAN cables in accordance with ISO 11898-2:

CAN cable in accordance with ISO 11898-2

Cable type Paired with shielding

Impedance 120 Ω (95 ... 140 Ω)

Cable resistance/cross-section

Cable length ≤ 300 m

Cable length 301 ... 1000 m

Signal propagation delay ≤ 5 ns/m

≤ 70 mΩ/m / 0.25... 0.34 mm
≤ 40 mΩ/m / 0.5 mm

2

(AWG20)

2

(AWG22)

Observe the notes provided on the Bus cable length

5.2.4 Bus cable length

 Note!

• It is absolutely necessary to comply with the permissible cable lengths.

• Please take into account the reduction of the total cable length due to the

• Mixed operation refers to different nodes being connected to the same

Total cable length

• If the total cable lengths of the nodes are different at the same baud rate, the

1. Check that the total cable length is not exceeded.

The total cable length is determined by the baud rate.

( 26)!

signal delay of the repeater.

Consider the use of repeaters

( 28)

network.

smaller value must be used to determine the maximum cable length.

Baud rate [kbps] Max. bus length [m]

20 4013

50 1575

125 600

250 275

500 113

800 38

1000 13

[5-1] Total cable length

26 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

Segment cable length

2. Check that the segment cable length is not exceeded

The segment cable length is determined by the number of nodes and the cable
cross-section used. Without a repeater, the segment cable length corresponds to
the total cable length.

Installation

Electrical installation

Maximum number of

nodes per segment

2 240 m 430 m 650 m 940 m

5 230 m 420 m 640 m 920 m

10 230 m 410 m 620 m 900 m

20 210 m 390 m 580 m 850 m

32 200 m 360 m 550 m 800 m

63 170 m 310 m 470 m 690 m

[5-2] Segment cable length

3. Compare both values.

If the value determined from the Segment cable length
the required total cable length Total cable length
Repeaters divide the total cable length into segments.

Selection example

Given

• Cable cross-section: 0.5 mm

• Number of nodes: 63

• Repeater: Lenze repeater, type 2176 (cable reduction: 30 m)

Cable cross-section

0.25 mm

2

0.5 mm

2

0.75 mm

2

1 mm

[5-2] table is smaller than

[5-1], repeaters must be used.

2

, according to Specification of the bus cable ( 26)

2

Based on the given specifications, the following cable lengths/number of repeaters result
for a maximum of 63 nodes:

Baud rate [kbps] 20 50 125 250 500 800 1000

Max. cable length [m] 4013 1575 600 275 113 38 13

Segment cable length [m] 270 270 270 270 113 38 13

Number of repeaters 15621- - -

EDS84DMOTCAN EN 3.0 - 11/2011 L 27

Communication manual 8400 motec CANopen

Installation
Electrical installation

Consider the use of repeaters

 Note!

The use of an additional repeater is recommended as:

• Service interface
– Advantage: Trouble-free connecting during ongoing bus operation is

possible.

• Calibration interface
– Advantage: Calibration/programming units remain electrically isolated.

Given

• Baud rate: 125 kbps

• Cable cross-section: 0.5 mm

• Number of nodes: 28

• Cable length: 450 m

2

Steps Cable length See

1 Total cable length at 125 kbps: 600 m Table Total cable length

2 Segment cable length for 28 nodes and a

cable cross-section of 0.5 mm

3 Comparison: The value determined in

step 2 is smaller than the required cable
length of 450 m.

2

:

360 m Table Segment cable length

( 27)

Conclusion:

 A cable length of 450 m is not possible without installing a repeater.

 After 360 m (step 2), a repeater must be installed.

Result:

 The Lenze repeater, type 2176 (cable reduction: 30 m), is used
 Calculation of the max. cable length:

– First segment: 360 m
– Second segment: 360 m (according to the table Segment cable length

[5-2] ( 27))

minus 30 m (cable reduction when a repeater is used)

 Max. possible cable length with one repeater: 690 m

– Now the required cable length is possible.

[5-1] ( 26)

[5-2]

28 L EDS84DMOTCAN EN 3.0 - 11/2011

5.2.5 CANopen connection

CANopen connection

Pin Signal Description

1 - Not assigned

2 - Not assigned

3CG CAN GND potential

4 CH CAN-High data line

5CL CAN-Low data line

Communication manual 8400 motec CANopen

Installation

Electrical installation

 Input: M12 pins, 5-pole, A-coded

 Wiring at terminal strip X3

 Output: M12 socket, 5-pole, A-coded

 Wiring at terminal strip X3

EDS84DMOTCAN EN 3.0 - 11/2011 L 29

Communication manual 8400 motec CANopen

Commissioning
Before initial switch-on

6 Commissioning

During commissioning, system-related data such as motor parameters, operating
parameters, responses, and parameters for fieldbus communication are defined for the
controller. For Lenze devices, this is done via the codes.

The codes of the controller and communication are saved non-volatilely as a data set in the
memory module.

In addition, other codes are also available for diagnosing and monitoring the nodes.

Parameter reference

6.1 Before initial switch-on

 Stop!

Before switching on the device for the first time, please check ...

• the entire wiring for completeness, short circuit, and earth fault.

• whether the bus system is terminated through a bus terminating resistor at
the first and last physical node.

Bus termination

( 75)

( 25)

30 L EDS84DMOTCAN EN 3.0 - 11/2011

6.2 Configuring the host (master)

First you have to configure the host (master) for the communication with the controller.

Defining the user data length

 The CANopen communication unit supports the configuration of max. 8 process data

words (max. 64 bytes).

 The user data length is defined during the initialisation phase of the master.
 The user data lengths for process input data and process output data are the same.

 Note!

The CANopen process data objects are designated as seen from the node's view:

• Receive PDO (RPDOx): Process data object received by a node

• Transmit PDO (TPDOx): Process data object sent by a node

Communication manual 8400 motec CANopen

Commissioning

Configuring the host (master)

EDS84DMOTCAN EN 3.0 - 11/2011 L 31

Communication manual 8400 motec CANopen

Commissioning
Possible settings via DIP switch

6.3 Possible settings via DIP switch

The DIP switches serve to ...

[6-1] DIP switch

 Note!

• The DIP switches can only be accessed when the drive unit is detached from
the communication unit. Loosen the four fixing screws at the drive unit.

Observe the notes in the mounting instructions.

• Switch off the voltage supply of the controller and the external supply of the
communication unit before starting with the dismounting of the drive unit.

• The DIP switches are only read in when the device is switched on.

6.3.1 Setting the baud rate

The baud rate ...

 must be the same for all networked CANopen nodes;

 Setting the baud rate

( 32) (switches: a ... c)

 Setting the CAN node address

(switches: 1 ... 64)

Lenze setting: All switches OFF

( 33)

 can be set via the DIP switches a...c or via the »Engineer« (code C00351

DIP switch position Baud rate

c b a

ON OFF ON 20 kbps

OFF ON ON 50 kbps

OFF ON OFF 125 kbps

OFF OFF ON 250 kbps

OFF OFF OFF 500 kbps

ON ON OFF 800 kbps

ON OFF OFF 1000 kbps

Settings in the Lenze »Engineer«

( 34)

).

32 L EDS84DMOTCAN EN 3.0 - 11/2011

6.3.2 Setting the CAN node address

The node addresses must differ from each other in the case of several networked CANopen
nodes.

The node address can be set via DIP switches 1...64 or via the »Engineer« with code

C00350

.

Communication manual 8400 motec CANopen

Commissioning

Possible settings via DIP switch

For the setting with C00350

DIP switches 1...64must be set toOFF.

 Note!

• The valid address range is 0 ... 63.

• If DIP switch 64 = ON (node address > 63), always node address 63 is used.

DIP switch Node address

64 32 16 8 4 2 1

OFF OFF OFF OFF OFF OFF OFF Value from C00350

OFF OFF OFF OFF OFF OFF ON 1

OFF ... ... ... ... ... ... ...

OFF ON ON ON ON ON ON 63

ON ... ... ... ... ... ...

The labelling on the housing corresponds to the values of the individual DIP switches for
determining the node address.

DIP switch 64 32 16 8 4 2 1

Switch position OFF OFF ON OFF ON ON ON

Value 00

Node address = Sum of the values = 16 + 4 + 2 + 1 = 23

16 0 4 2 1

The current address setting of the DIP switches is displayed in C00349

DIP switch positions for setting the CAN node address

Settings in the Lenze »Engineer«

( 34)

( 106)

.

EDS84DMOTCAN EN 3.0 - 11/2011 L 33

Communication manual 8400 motec CANopen

Commissioning
Settings in the Lenze »Engineer«

6.4 Settings in the Lenze »Engineer«

The following settings can be made in the »Engineer« under the Settings tab:

 CAN node address (C00350

– The node address can only be parameterised if the node address "0" is set via the DIP

switches.

– A change of the node address will only become effective after a CAN reset node.

 CAN node is slave or master (C00352

 Deceleration during status change from "Boot-up" to "Operational" (C00356/1

 Time to the first transmission of CANx_OUT in the "Operational" state (C00356/4)

)

)

)

Save changed settings with the device command C00002/11 (save all parameter sets).

34 L EDS84DMOTCAN EN 3.0 - 11/2011

6.5 Initial switch-on

Establishing communication

 To establish communication, the controller must be supplied with mains voltage.

 All parameters (codes) and DIP switch settings are read in when the device is switched

on.

 If an error occurs, the error message "CE04: MCI communication error" (error no.

01.0127.00002) is output.

 The positions of the DIP switches define whether the CAN node address and the baud

rate are selected via the DIP switches or via codes C00350

Possible settings via DIP switch

Communication manual 8400 motec CANopen

Commissioning

Initial switch-on

and C00351.

( 32)

EDS84DMOTCAN EN 3.0 - 11/2011 L 35

Communication manual 8400 motec CANopen

Data transfer
Structure of the CAN data telegram

7 Data transfer

Via the system bus interface, for instance process data and parameter values can be
exchanged between the nodes. In addition, the interface enables the connection of
additional modules such as distributed terminals, keypads and input devices or external
control systems and hosts (masters).

The system bus interface transfers CAN objects following the CANopen communication
profile (CiA DS301, version 4.02) developed by the umbrella organisation of CiA (CAN in

Automation) in conformity with the CAL (CAN Application Layer).

7.1 Structure of the CAN data telegram

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[7-1] Basic structure of the CAN telegram

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%\WH

1HWZRUNPDQDJHPHQW
3URFHVVGDWD
3DUDPHWHUGDWD

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The following subchapters provide a detailed description of the identifier and the user
data. The other signals refer to the transfer characteristics of the CAN telegram the
description of which is not included in the scope of this documentation.

 Tip!

Please visit the homepage of the CAN user organisation CiA (CAN in automation)
for further information:

http://www.can-cia.org

36 L EDS84DMOTCAN EN 3.0 - 11/2011

7.1.1 Identifier

The principle of CAN communication is based on a message-oriented data exchange
between a transmitter and many receivers. All nodes can virtually transmit and receive
simultaneously.

The identifier, also called COB-ID (abbr. for communication object identifier), is used to
control which node is to receive a transmitted message. In addition to the addressing, the
identifier contains information on the priority of the message and the type of user data.

The identifier consists of a basic identifier and the node address of the node to be
addressed:

Identifier (COB-ID) = basic identifier + node address (node ID)

Communication manual 8400 motec CANopen

Data transfer

Structure of the CAN data telegram

Exception:
management and sync telegrams is freely assigned by the user (either manually or
automatically by the network configurator), or is permanently assigned.

Node address (node ID)

For unambiguous identification, a node address (also called node ID) within the valid
address range (1 ... 63) must be assigned to every node of the system bus network.

 A node address may not be assigned more than once within a network.

 The own node address can be configured via the DIP switches or via code C00350

Setting the CAN node address

Identifier assignment

The system bus is message-oriented instead of node-oriented. Every message has an
unambiguous identification, the identifier. For CANopen, node-oriented transfer is
achieved by the fact that every message has only one transmitter.

 The basic identifiers for network management (NMT) and sync as well as the basic SDO

channel (SDO1) are defined in the CANopen protocol and cannot be changed.

 In the Lenze setting, the basic identifiers of the PDOs are preset according to the

"Predefined connection set" of DS301, V4.02 and can be changed via parameters/
indexes, if required.

The identifier for process data/heartbeat/emergency objects as well as network

.

( 33)

Identifiers of the process data objects

EDS84DMOTCAN EN 3.0 - 11/2011 L 37

( 51)

Communication manual 8400 motec CANopen

Data transfer
Structure of the CAN data telegram

Object Direction Lenze-Base-ID CANopen-Base-ID

from device to device dec hex dec hex

Network management (NMT) 0 0 0 0

1)

Sync

Emergency

PDO1
(Process data channel 1)

PDO2
(Process data channel 2)

SDO1
(Parameter data channel 1)

SDO2
(Parameter data channel 2)

Heartbeat z 1792 700 1792 700

Boot-up z 1792 700 1792 700

1)

TPDO1

RPDO1

TPDO2

RPDO2

TSDO1

RSDO1

TSDO2

RSDO2

z 128 80 128 80

z 384 180 384 180

z 640 280 640 280

z 1408 580 1408 580

z 1472 5C0 1472 5C0

128 80 128 80

z 512 200 512 200

z 641 281 768 300

z 1536 600 1536 600

z 1600 640 1600 640

1) If you set the sync transmit/receive identifier manually, observe the use of the emergency telegram, since it has the same
COB-ID.

38 L EDS84DMOTCAN EN 3.0 - 11/2011

7.1.2 User data

All nodes communicate by exchanging data telegrams via the system bus. The user data
area of the CAN telegram either contains network management data, or parameter data,
or process data:

Network management data

(NMT data)

 Control information on start, stop, reset, etc. of communication to specific nodes or to

all nodes of the CAN network.

Process data

(PDOs – process data objects)

 Process data are transferred via the process data channel.
 Process data can be used to control the controller.

Communication manual 8400 motec CANopen

Data transfer

Structure of the CAN data telegram

 Process data are not

 Process data are transmitted between the host (master) and controllers (slaves) to

ensure a continuous exchange of current input and output data.

 Process data usually are unscaled/scalable raw data.

 Process data are, for instance, setpoints and actual values.
 The exact meaning of the PDO file contents is determined via the function block editor

(FB Editor) in the I/O level or via the PDO mapping.

Parameter data

(SDOs – service data objects)

 Parameter data are the CANopen indexes or, in the case of Lenze devices, the codes.

 Parameters are, for instance, used for one-off plant setting during commissioning or

when the material on a production machine is changed.

 Parameter data are transmitted as SDOs via the parameter data channel. They are

acknowledged by the receiver, i.e. the sender gets a feedback about whether the
transmission was successful or not.

 The parameter data channel enables access to all Lenze codes and CANopen indexes.
 Parameter changes are automatically saved to the controller until mains switching.

saved to the controller.

 Generally the parameter transfer is not time-critical.

 Parameter data are, for instance, operating parameters, diagnostic information, and

motor data.

EDS84DMOTCAN EN 3.0 - 11/2011 L 39

Communication manual 8400 motec CANopen

Data transfer
Communication phases/network management

7.2 Communication phases/network management

With regard to communication via the system bus, the controller distinguishes between
the following states:

Status Explanation

"Initialisation"

(Initialisation)

"Pre-operational"

(before being ready for operation)

"Operational"

(ready for operation)

"Stopped"

(stopped)

After switch-on, an initialisation run is carried out.

• During this phase, the controller is not involved in the data exchange via
the bus.

• The standard values are re-written to all CAN-relevant parameters.

• After initialisation is completed, the controller is automatically set to the
"Pre-operational" status.

Parameter data can be received, process data are ignored.

Parameter data and process data can be received!

Only network management telegrams can be received.

Communication object Initialisation Pre-operational Operational Stopped

PDO z

SDO zz

Sync zz

Emergency zz

Boot-up z

Network management (NMT) zzz

Code C00359

serves to display the status of the CAN bus.

 Tip!

Part of the initialisation or the entire initialisation can be carried out again in every
status by transmitting the corresponding network management telegrams.

40 L EDS84DMOTCAN EN 3.0 - 11/2011

7.2.1 State transitions

[7-2] NMT state transitions in the CAN network

Communication manual 8400 motec CANopen

Data transfer

Communication phases/network management

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Transition NMT command Status after

Effects on process/parameter data after status change

change

(1) - Initialisation Initialisation starts automatically at mains connection.

• During initialisation, the controller is not involved in the
data exchange.

• After the initialisation is completed, the node sends a
boot-up message with an individual identifier and
automatically changes to the "Pre-operational" status.

(2) - Pre-operational In this phase, the master determines the way in which the

node(s) takes/take part in communication.

From here, the master changes the states for the entire network.



• A target address included in the NMT command defines the receiver(s).

• If the controller is configured as CAN master, the status is automatically changed to
"Operational" after a waiting time has expired (C00356/1

) and the command 0x0100 NMT

("Start Remote Node") is transmitted to all nodes.

• Data can only be exchanged via process data objects if the status is "Operational"!

(3), (6) 0x01 xx

Start remote node

Operational Network management/sync/emergency telegrams as well

as process data (PDO) and parameter data (SDO) are active.
Optional: When the status is changed, event- and time-

controlled process data (PDOs) are transmitted once.

(4), (7) 0x80 xx

Enter Pre-operational

(5), (8) 0x02 xx

Stop remote node

(9), (10), (11) 0x81 xx

Reset node

(12), (13), (14) 0x82 xx

Reset communication

Pre-operational Network management/sync/emergency telegrams and

parameter data (SDO) are active.

Stopped Only network management telegrams can be received.

Initialisation All CAN-relevant parameters (CiA DS 301) are initialised with

the saved values.

All CAN-relevant parameters (CiA DS 301) are initialised with
the saved values.

Meaning of the node address in the NMT command:



• xx = 0x00: If this assignment is selected, the telegram addresses all nodes (broadcast telegram).
The status of all nodes can be changed at the same time.

• xx = Node ID: If a node address is specified, only the status of the node with the corresponding
address changes.

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Communication manual 8400 motec CANopen

Data transfer
Communication phases/network management

7.2.2 Network management telegram (NMT)

The telegram for the network management contains the identifier "0" and the command
included in the user data, which consists of the command byte and the node address:

,GHQWLILHU 8VHUGDWD%\WH

&2%,' 

%LW %LW %LW %LW %LW %LW %LW %LW %LW

[7-3] Network management telegram for changing over the communication phases

Command specifier (cs) NMT command

dec hex

1 0x01 Start remote node

20x02Stop remote node

128 0x80 Enter Pre-operational

129 0x81 Reset node

130 0x82 Reset communication

FRPPDQG

VSHFLILHU

FV

QRGH

DGGUHVV

QRGH,'

The change-over of the communication phases for the entire network is carried out by one
node, the CAN master. The function of the CAN master can also be carried out by the
controller.

Parameterising the Inverter Drives 8400 motec as CAN master

( 43)

Example:

Data can only be exchanged via process data objects if the status is "Operational". If the
CAN master is supposed to switch all nodes connected to the bus from the "Pre­operational" communication status to the "Operational" communication status, the
identifier and user data in the transmission telegram must be set as follows:

 Identifier: 0x00 (network management)

 User data: 0x0100 ("Start remote node" NMT command to all nodes)

42 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

Communication phases/network management

7.2.3 Parameterising the Inverter Drives 8400 motec as CAN master

If the initialisation of the system bus and the associated status change from "Pre­operational" to "Operational" is not effected by a higher-level host, the Inverter Drive 8400
motec can instead be defined to be a "quasi" master to execute this task.

Data transfer

The controller is configured as CAN master in C00352

 Being the CAN master, the controller sets all

telegram) to the "Operational" communication status with the "Start remote node"
NMT telegram. Only in this communication status data can be exchanged via process
data objects.

 A delay time can be set in C00356/1

the controller transmits the "Start remote node" NMT telegram.

Parameter Info Lenze setting

C00352 CAN slave/master Slave

C00356/1

CAN delay boot-up - Operational 3000 ms

, which must expire after mains switching before

.

nodes connected to the bus (broadcast

Value Unit

 Note!

The changes of the master/slave operation in C00352 will not be activated until

• another mains switching of the controller

or

• the "Reset node" or "Reset communication" NMT telegram has been
transmitted to the controller.

The "CAN reset node" device command (C00002/26) is provided as an alternative
to the "Reset node" NMT telegram for the reinitialisation of the CAN-specific
device parameters.

 Tip!

Master functionality is only required during the initialisation phase of the drive
system.

EDS84DMOTCAN EN 3.0 - 11/2011 L 43

Communication manual 8400 motec CANopen

Process data transfer

8 Process data transfer

[8-1] PDO data transfer from / to the higher-level host (master)

The CANopen communication unit is provided with two separate process data channels
(PDO1 and PDO2) for transmitting process data. Each process data channel can transmit up
to four words (8 bytes) at a maximum.

The system bus (CANopen) transmits parameter data, configuration data, diagnostic data,
alarm messages and process data between the host (master) and the controllers (slaves)
participating on the fieldbus. Depending on their time-critical nature, the data are
transmitted via different communication channels.

 Process data are transmitted via the process data channel.
 The process data serve to control the controller.

 Transferring process data is time-critical.

 Process data are transferred cyclically between the master and the slaves participating

on the fieldbus (continuous exchange of current input and output data).

 The master can directly access the process data. In the PLC, for instance, the data are

directly assigned to the I/O area.

 Process data are not saved in the controller.

 Process data are, for instance, setpoints, actual values, control words and status words.

44 L EDS84DMOTCAN EN 3.0 - 11/2011

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Process data transfer

Definitions

 Process data telegrams between the host (master) and the controllers (slaves) are

distinguished in terms of direction as follows:
– Process data telegrams to
– Process data telegrams from

 The CANopen process data objects are designated as seen from the node's view:

– Receive PDOs (RPDOx): Process data object received by a node
– Transmit PDOs (TPDOx): Process data object sent by a node

the device (RPDO)

the device (TPDO)

 Note!

Data can only be exchanged via process data objects if the status is
"Operational"!

Communication phases/network management

( 40)

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Process data transfer
Access to process data / PDO mapping

8.1 Access to process data / PDO mapping

The process data are transferred via the MCI/CAN interface.

 Max. 8 words (16 bits/word) per direction can be exchanged.

– 2 x 4 words via the input ports CAN1_IN and CAN2_IN
– 2 x 4 words via the output ports CAN1_OUT and CAN2_OUT

 The process data are accessed via the port blocks LP_Network_In and

LP_Network_Out. These port blocks are also called process data channels.

 The port/function block interconnection of the process data objects (PDO) takes place

via the Lenze »Engineer«.

[8-2] External and internal data transfer between the bus system, controller, and application

 Software manual / »Engineer« online help "Inverter Drives 8400 motec"

Here you will find detailed information on port blocks and port/function block
interconnection in the »Engineer«.

46 L EDS84DMOTCAN EN 3.0 - 11/2011

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Port interconnection of the process data objects (PDO)

8.2 Port interconnection of the process data objects (PDO)

 Note!

The »Engineer« screenshots shown on the following pages are only examples for
the setting sequence and the resulting screens.

Depending on the software version of the controller and of the »Engineer«
software installed, the screenshots may deviate from your »Engineer«
representation.

The preconfigured port interconnection of the process data objects is activated by setting
code C00007 = 40: Network (MCI/CAN).

 How to freely configure the port interconnection in the »Engineer«:

1. Under the Process data object tab, click the Go to application button.

Process data transfer

2. The Ports tab displays the port blocks CAN1_IN/CAN2_IN and CAN1_OUT/

CAN2_OUT.

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Process data transfer
Port interconnection of the process data objects (PDO)

3. Click the port to be configured and press the Edit port ... button.

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Process data transfer

Port interconnection of the process data objects (PDO)

4. Via the button, you can assign signals to the process data words in the Signal
assignment --> Function Block dialog box.
 Select the signals and then confirm the selection with the OK button.

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Process data transfer
Port interconnection of the process data objects (PDO)

For some process data words, you can also assign signals to the individual bits via
the and buttons.

 Select the signals and then confirm the selection with OK.

The current interconnection is only displayed if the following has been set for the
control mode in code C00007 = 40: Network (MCI/CAN).

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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.

Process data transfer

Identifiers of the process data objects

:

 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.

Process data object Basic identifier Individual setting

dec hex Lenze code CANopen index

PDO1

RPDO1 512 0x200 C00354/1

TPDO1 384 0x180 C00354/2 I-1800/1

PDO2

RPDO2 768 0x300 C00354/3

TPDO2 640 0x280 C00354/4 I-1801/1

I-1400/1

I-1401/1

 Note!

After a node address change (C00350) and a subsequent CAN reset node, the
subcodes of C00354
respective basic identifier and the node address set.

automatically resume the values which result from the

Short overview: Parameters for setting the identifiers

Parameter Info Lenze setting

Value Unit

C00353/1 COBID source CAN1_IN/OUT 0: COBID = C0350 + CANBaseID

C00353/2

C00354/1

C00354/2

C00354/3

C00354/4

EDS84DMOTCAN EN 3.0 - 11/2011 L 51

COBID source CAN2_IN/OUT 0: COBID = C0350 + CANBaseID

COBID CAN1_IN 0x00000201

COBID CAN1_OUT 0x00000181

COBID CAN2_IN 0x00000301

COBID CAN2_OUT 0x00000281

Communication manual 8400 motec CANopen

Process data transfer
Transmission type

8.4 Transmission type

Process data objects can be transmitted in an event-controlled or time-controlled manner.
The below table shows that it is possible to combine the different methods by means of
logic operations (AND, OR):

 Event-controlled

The PDO is sent when a certain device-internal event has occurred, e.g. when the data
contents of the TPDO have changed or when a transmission cycle time has elapsed

 Synchronous transmission

A TPDO (or RPDO) is sent (or received) after the device has received a sync telegram
(COB-ID 0x80).

 Cyclic transmission

The cyclic transmission of PDOs takes place when the transmission cycle time has
elapsed.

 Polled via RTR

A TPDO is sent when another device requests it by means of a data request telegram
(RTR remote transmit request). For this purpose, the data requester (e.g. the master)
sends the data request telegram with the COB-ID of the TPDO requested to be sent. The
receiver recognises the RTR and transmits the corresponding PDO.

Transmission type PDO transmission Logic combination of

cyclic synchronous event-controlled

0 zzAND

1 ... 240 zz AND

254 zzOR

Transmission type Description

0 Synchronous and acyclic:

The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change
occurs in the PDO).

1 ... 240 Synchronous and cyclic (sync-controlled with response):

• Selection n = 1: The PDO is transmitted with every

• Selection 1 < n ≤ 240: The PDO is transmitted with every n-th

241 ... 251 Reserved

252, 253 RTR-controlled manner is not permissible.

254 Event-controlled with cyclic transmission:

If this value is entered, the PDO is transferred in an event-controlled or cyclic manner. (The
values "254" and "255" are equivalent).

For a cyclic transmission, a cycle time must be set for the respective PDO. In this case, cyclic
transmission takes place in addition to event-controlled transmission.

255 Not permissible

sync.

different
transmission types

sync.

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Process data transfer

Transmission type

The communication parameters such as the transmission mode and cycle time can be set
freely for every PDO and independently of the settings of other PDOs:

Parameter Info Lenze setting

Value Unit

C00322/1 Transmission mode CAN1 OUT 254

C00322/2

C00323/1

C00323/2

C00324/1

C00324/2

C00324/3

C00356/5

C00356/2

Transmission mode CAN2 OUT 254

Transmission mode CAN1 IN 254

Transmission mode CAN2 IN 254

Inhibit time for emergency telegrams 0 ms

CAN1_OUT inhibit time 0 ms

CAN2_OUT inhibit time 0 ms

CAN1_OUT cycle time 0 ms

CAN2_OUT cycle time 0 ms

 Tip!

The setting can also be carried out via the following CANopen objects:

• I-1400

• I-1800

/ I-1401: Communication parameter for RPDO1 and RPDO2
/ I-1801: Communication parameter for TPDO1 and TPDO2

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Process data transfer
PDO synchronisation via sync telegram

8.5 PDO synchronisation via sync telegram

During cyclic transmission, one or more PDOs are transmitted/received in fixed time
intervals. An additional specific telegram, the so-called sync telegram, is used for
synchronising cyclic process data.

 The sync telegram is the trigger point for the transmission of process data from the

slaves to the master and for the acceptance of process data from the master in the
slaves.

 For sync-controlled process data processing, the sync telegram must be generated

accordingly.

 The response to a sync telegram is determined by the selected transmission type.

Transmission type

Basic workflow

n Sync cycle time

[8-3] Sync telegram

A. After the sync telegram has been received, the slaves transmit the synchronous process

data to the master (TPDOs). The master reads them as process input data.

B. When the transmission process is completed, the slaves receive (RPDOs) the process

output data (of the master).
– All other telegrams (e.g. parameters or event-controlled process data) are accepted

acyclically by the slaves after the transmission is completed.

–Illustration [8-3]

when dimensioning the cycle time.

( 52)

SYNC SYNC



01 2

does not include acyclic data. However, they need to be considered

C. The data are accepted in the slave with the next sync telegram if the Rx mode is set to

1 ... 240. If the Rx mode is 254 or 255, the data are accepted in the next device cycle,
irrespective of the sync telegram.

Short overview: Parameters for the synchronisation via sync telegram

Parameter Info Lenze setting Assignment

Value Unit Sync

C00367 CAN sync Rx identifier 128 z

C00368

C00369

54 L EDS84DMOTCAN EN 3.0 - 11/2011

CAN sync Tx identifier 128 z

CAN sync transmission cycle time 0 ms z

master

Sync
slave

9 Parameter data transfer

Communication manual 8400 motec CANopen

Parameter data transfer

[9-1] Parameter data transfer via the available parameter data channels

Parameters are values stored in codes on Lenze controllers.

Two parameter data channels are available for parameter setting, enabling the
simultaneous connection of different devices for configuration purposes.

Parameter data are transmitted via the system bus as SDOs (Service Data Objects) via the
system bus (CANopen) and are acknowledged by the receiver. The SDO enables read and
write access to all device parameters and to the CANopen object directory integrated in the
device. Indexes (e.g. 0x1000) enable access to device parameters and functions included in
the object directory. To transfer SDOs, the information contained in the user data must
comply with the CAN-SDO protocol.

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Parameter data transfer
Identifiers of the parameter data objects

9.1 Identifiers of the parameter data objects

In the Lenze setting, the basic identifiers of the SDOs are preset according to the
"Predefined Connection Set".

The identifiers for the parameter data objects SDO1 and SDO2 are generated from the
basic identifier and the node address set in code C00350

Identifier = basic identifier + node address

Object Direction Lenze-Base-ID CANopen-Base-ID

from device to device dec hex dec hex

SDO1
(Parameter data channel 1)

SDO2
(Parameter data channel 2)

Heartbeat z 1792 700 1792 700

Boot-up z 1792 700 1792 700

TSDO1

RSDO1

TSDO2

RSDO2

z 1408 580 1408 580

z 1472 5C0 1472 5C0

:

z 1536 600 1536 600

z 1600 640 1600 640

 Note!

Please observe that the parameter data channels 1 and 2 are active in the factory
setting.

56 L EDS84DMOTCAN EN 3.0 - 11/2011

9.2 User data

Structure of the user data of the parameter data telegram

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

 Note!

For the user data, the Motorola format is used.

Communication manual 8400 motec CANopen

Parameter data transfer

User data

Low byte High byte Low word High word

Low byte High byte Low byte High byte

Parameter data telegram examples

The following subchapters provide detailed information on user data.

9.2.1 Command

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

The following commands can be transmitted or received for writing and reading the
parameters:

Command 1st byte Data length Info

Write request 0x23 35 4 bytes Writing of a parameter to the controller.

Write response 0x60 96 4 bytes Controller acknowledges a write request.

Read request 0x40 64 4 bytes Reading of a parameter from the controller.

Read response 0x43 67 4 bytes Controller's response to a read request with the current

Error response 0x80 128 4 bytes Response of the controller if the write/read request could

( 62)

Low byte High byte Low word High word

Low byte High byte Low byte High byte

hex dec

0x2B 43 2 bytes

0x2F 47 1 byte

0x21 33 Block

0x4B 75 2 bytes

0x4F 79 1 byte

0x41 65 Block

parameter value.

not be executed correctly.

Error messages

( 60)

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Parameter data transfer
User data

More precisely, the command byte comprises the following information:

Command 1st byte

Command specifier (cs) Toggle (t) Length* e s

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Write request 00100/10/111

Write response 01100000

Read request 01000000

Read response 01000/10/111

Error response 10000000

*Bit coding of the length: 00=4bytes, 01=3bytes, 10=2bytes, 11=1byte

 Tip!

More commands are defined in CANopen specification DS301, V4.02 (e.g.
segmented transfer).

e: expedited (shortened block service)

s: segmented (normal block service)

9.2.2 Addressing by means of index and subindex

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

Low byte High byte Low word High word

A parameter (a Lenze code) is addressed as per the following formula:

Index = 24575 - (Lenze code number)

Example

The C00011 parameter (motor reference speed) is to be addressed.

Calculation:

 Index:

– Decimal: 24575 - 11 = 24564
– Hexadecimal: 0x5FFF - 0xB = 0x5FF4

 Subindex: 0x00 (subindex 0 since the parameter does not have any subcodes)

Entries:

Low byte High byte Low byte High byte

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

0xF4 0x5F 0x00

58 L EDS84DMOTCAN EN 3.0 - 11/2011

9.2.3 Data 1 ... data 4

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

Low byte High byte Low word High word

Maximally 4 bytes are available for parameter value entries. Depending on the data
format, they are assigned as follows:

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

Parameter value (1 byte) 0x00 0x00 0x00

Parameter value (2 bytes) 0x00 0x00

Low byte High byte

Low byte High byte Low byte High byte

Communication manual 8400 motec CANopen

Parameter data transfer

User data

Low byte High byte Low byte High byte

Parameter value (4 bytes)

Low word High word

 Note!

The "Factor" column of the Table of attributes ( 87) contains a scaling factor for
all Lenze parameters. The scaling factor is relevant to the transfer of parameter
values which have one or more decimal positions in the parameter list.

If the scaling factor is > 1, the value must be multiplied by the indicated scaling
factor prior to transmission to be able to transfer the value as an integer. At the
SDO client end, the integer must be divided by the scaling factor to obtain the
original value including decimal positions again.

Example

A value of "123.45" is to be transmitted for a code, unit: "%" (e.g. C00039/1: "Fixed setpoint­JOG1").

Parameters with the "%" unit have two decimal positions and hence a scaling factor of
"100".

Calculation:

 Value to be transmitted = scaling factor x value
 Data

Entries:

= 100 x 123.45 = 12345 (0x00 00 30 39)

(1 ... 4)

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

0x39 0x30 0x00 0x00

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Parameter data transfer
User data

9.2.4 Error messages

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Error code

0x80
(128)

In the event of an error, the node addressed generates a telegram with the "Error response"
(0x80) command.

 The telegram includes the index and subindex of the code where the error occurred.

 The error code is entered in bytes 5 ... 8.

– The error codes are standardised according to DS301, V4.02.
– The representation of the error codes is provided in reverse read direction (see

example below).

Low byte High byte Low word High word

Low byte High byte Low byte High byte

Example

Representation of error code "0x06 04 00 41" in bytes 5 ... 8:

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Error code

0x41 0x00 0x04 0x06

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Parameter data transfer

User data

Meaning of the error codes

The error codes are standardised according to DS301, V4.02.

Error code Explanation

0x0503 0000 Toggle bit not changed

0x0504 0000 SDO protocol expired

0x0504 0001 Invalid or unknown client/server command specifier

0x0504 0002 Invalid block size (only block mode)

0x0504 0003 Invalid sequence number (only block mode)

0x0504 0004 CRC error (only block mode)

0x0504 0005 Not sufficient memory

0x0601 0000 Object access not supported

0x0601 0001 Attempt to read a write-only object

0x0601 0002 Attempt to write to a read-only object

0x0602 0000 Object not listed in object directory

0x0604 0041 Object not mapped to PDO

0x0604 0042 Number and length of objects to be transferred longer than PDO length.

0x0604 0043 General parameter incompatibility

0x0604 0047 General internal device incompatibility

0x0606 0000 Access denied because of hardware error

0x0607 0010 Unsuitable data type, unsuitable service parameter length

0x0607 0012 Unsuitable data type, service parameter length exceeded

0x0607 0013 Unsuitable data type, service parameter length not long enough

0x0609 0011 Subindex does not exist

0x0609 0030 Parameter value range exceeded

0x0609 0031 Parameter values too high

0x0609 0032 Parameter values too low

0x0609 0036 Maximum value falls below minimum value

0x0800 0000 General error

0x0800 0020 Data cannot be transferred/saved for application.

0x0800 0021 Data cannot be transferred/saved for application due to local control.

0x0800 0022 Data cannot be transferred/saved for application due to current device status.

0x0800 0023 Dynamic generation of object directory failed or no object directory available (e.g. object

directory generated from file, generation not possible because of a file error).

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Parameter data transfer
Parameter data telegram examples

9.3 Parameter data telegram examples

9.3.1 Reading parameters

The heatsink temperature of 43 °C (code: C00061, data format: INTEGER32, scaling

Task:
factor: 1) of the controller with node address "5" is to be read.

Telegram to the drive

Identifier User data

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

0x0605 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00

Explanations on the telegram to the drive

Identifier = 1536 + node address = 1536 + 5 = 1541 = 0x0605

(1536 = SDO1 basic identifier to the controller)

Command = 0x40 = "Read request" (read request of a parameter from the controller)

Index = 24575 - code number = 24575 - 61 = 24514 = 0x5FC2

Subindex = 0 (code C00061 does not have any subcodes)

Response message from drive (if data have been transmitted correctly)

Identifier User data

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

0x0585 0x43 0xC2 0x5F 0x00 0x2B 0x00 0x00 0x00

Explanations on the telegram from the drive

Identifier = 1408 + node address = 1408 + 5 = 1413 = 0x0585

(1408 = SDO1 basic identifier from the controller)

Command = 0x43 = "Read response" (response to the read request with current value)

Index As in telegram to the drive

Subindex

Data 1 ... 4 = 0x0000002B = 43 [°C]

62 L EDS84DMOTCAN EN 3.0 - 11/2011

9.3.2 Write parameters

The rated current of the connected motor is to be entered with IN= 10.20 A (code

Task:
C00088) into the controller with node address "2".

Data 1 ... 4 Calculation

Value for motor current, (data type U16; display factor 1/100) 10.20 x 100 = 1020 (0x03 FC)

Telegram to the drive

Identifier User data

0x0602 0x23 0xA7 0x5F 0x00 0xFC 0x03 0x00 0x00

Explanations on the telegram to the drive

Identifier = 1536 + node address = 1536 + 2 = 1538 = 0x0602

(1536 = SDO1 basic identifier to the controller)

Command = 0x23 = "Write request" (write request of a parameter to the controller)

Index = 24575 - code number = 24575 - 88 = 24487 = 0x5FA7

Subindex = 0 (code C00088 does not have any subcodes)

Data 1 ... 4 = 10.20 x 100 = 1020 = 0x000003FC

(motor current value; data type U32; display factor 1/100)

Communication manual 8400 motec CANopen

Parameter data transfer

Parameter data telegram examples

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

Response message from drive (if data have been transmitted correctly)

Identifier User data

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

0x0582 0x60 0xA7 0x5F 0x00 0x00 0x00 0x00 0x00

Explanations on the telegram from the drive

Identifier = 1408 + node address = 1408 + 2 = 1410 = 0x0582

(1408 = SDO1 basic identifier from the controller)

Command = 0x60 = "Write response" (acknowledgement of the write access from the controller)

Index As in telegram to the drive

Subindex

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Communication manual 8400 motec CANopen

Parameter data transfer
Parameter data telegram examples

9.3.3 Reading block parameters

The firmware version (code C00099) is to be read from the parameter set of the

Task:
controller with node address "12". The firmware version has a length of 11 ASCII characters
which are transmitted as a block parameter. Depending on the block, the data width from
the 2nd to 8th byte is assigned within the user data.

Telegram 1 to the drive: Read request

Identifier User data

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

0x060C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00

Explanations on the telegram to the drive

Identifier = 1536 + node address = 1536 + 12 = 1548 = 0x060C

(1536 = SDO1 basic identifier to the controller)

Command = 0x40 = "Read request" (read request of a parameter from the controller)

Index = 24575 - code number = 24575 - 99 = 24476 = 0x5F9C

Subindex = 0 (code C00099 does not have any subcodes)

Response message 1 from the drive: Indication of the block length (11 characters)

Identifier User data

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

0x058C 0x41 0x9C 0x5F 0x00 0x0B 0x00 0x00 0x00

Explanations on the telegram from the drive

Identifier = 1408 + node address = 1408 + 12 = 1420 = 0x058C

(1408 = SDO1 basic identifier from the controller)

Command = 0x41 = "Read response" (response is block telegram)

Index As in telegram to the drive

Subindex

Data 1 ... 4 = 0x0000000B = data length of 11 characters in the ASCII format

64 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

Parameter data transfer

Parameter data telegram examples

Telegram 2 to the drive: Request of the 1st data block

Identifier User data

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7

0x060C 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Explanations on the telegram to the drive

Command = 0x60 = "Read segment request" (request: read data block)

• Bit 4 = 0 (toggle bit)

Influence of the toggle bit on the request command

The blocks are toggled one after another, i.e. the request ist made with the "0x60" (=

0110*0000

with the "0x60" command, etc.

* Toggle bit

Response message 2 from the drive: Transmission of the 1st data block

) command, then with the "0x70" (= 0111*0000

bin

) command, and then again

bin

Identifier User data

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7

0x058C 0x00 0x30 0x31 0x2E 0x30 0x30 0x2E 0x30

0

asc

Explanations on the telegram to the drive

Command = 0x00 = 00000000

• Bit 4 = 0 (toggle bit)

Influence of the toggle bit on the transmission command

• The 1st response of the controller in the command byte is "0x0000*0000

completely filled with data and other telegrams are following.

• The 2nd response of the controller in the command byte is "0x0001* 0000

are completely filled with data and other telegrams are following, etc.

* Toggle bit

Data 1 ... 7 = "01.00.0" (ASCII representation)

bin

1

asc

.

asc

0

asc

0

asc

.

asc

" if bytes 2 ... 8 are

bin

" if bytes 2 ... 8

bin

0

asc

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Communication manual 8400 motec CANopen

Parameter data transfer
Parameter data telegram examples

Telegram 3 to the drive: Request of the 2nd data block

Identifier User data

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7

0x060C 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Explanations on telegram 3 to the drive

Command = 0x70 = "Read segment request" (request: read data block)

• Bit 4 = 1 (toggle bit)

Response message 3 from the drive: Transmission of the 2nd data block including end
identifier

Identifier User data

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7

0x058C 0x17 0x30 0x2E 0x30 0x30 0x00 0x00 0x00

0

asc

.

asc

0

asc

0

asc

---

Explanations on telegram 3 from the drive

Command = 0x17 = 00010111

• Bit 0 = 1 (end of transmission)

• Bit 1 ... bit 3 = 011

• Bit 4 = 1 (toggle bit)

Influence of the final bit and the residual data length on the transmission command

• The end of transmission is signalled via the set final bit 0.

• Bits 1 ... 3 reveal the number of bytes that do not contain data anymore.

* Toggle bit

Data 1 ... 7 = "0.00" (ASCII representation)

The result of the data block transmission is: "01.00.00.00"

:

bin

(3 bytes do not contain any data)

bin

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10 Monitoring

10.1 Monitoring of the RPDOs for data reception

RPDO1 and RPDO2 have a parameterisable monitoring time within which the RPDO must
arrive.

The following settings can be made in the »Engineer« under the Monitoring tab:

 Response to "BusOff" (bus system switched off), C00592/2

 CAN1_IN monitoring time, C00357/1

 CAN2_IN monitoring time, C00357/2

 Response to CAN1_IN monitoring, C00593/1

 Response to CAN2_IN monitoring, C00593/2

Monitoring

Monitoring of the RPDOs for data reception

If a monitoring time > 0 ms (C00357/1...2) is entered for CAN1_IN/CAN2_IN, the RPDO
is expected after the set time has expired.

If the RPDO is not received within the monitoring time or with the configured sync, the
response set for the respective RPDO is effected (C00593/1...2

A monitoring time = 0 ms deactivates the monitoring function.

).

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Monitoring
Integrated error detection

10.2 Integrated error detection

If a node detects an error, it rejects the CAN telegram bits received so far and transmits an
error flag. The error flag consists of 6 consecutive bits with the same logic value.

The following errors are detected:

Bit error

The sending node monitors the bus and interrupts the transmission if it receives a different
logic value than the value transmitted. With the next bit, the sending node starts the
transmission of an error flag.

In the arbitration phase, the sender only detects a bit error if a dominantly sent bit is
received as a recessive bit. In the ACK slot as well, the dominant overwriting of a recessive
bit is not indicated as a bit error.

Stuff-bit error

If more than 5 consecutive bits before the ACK delimiter in the CAN telegram have the
same logic value, the previously transmitted telegram will be rejected and an error flag will
be sent with the next bit.

CRC error

If the CRC checksum received does not correspond to the checksum calculated in the CAN
chip, the CAN controller sends an error flag after the ACK delimiter, and the previously
transmitted telegram is invalidated.

Acknowledgement error

If the ACK slot which is sent recessively by the transmitting node is not overwritten
dominantly by a receiver, the transmitting node aborts the transmission. The transmitting
node invalidates the telegram transmitted and sends an error flag with the next bit.

Format error

If a dominant bit is detected in the CRC delimiter, in the ACK delimiter or in the first 6 bits
of the EOF field, the telegram received is rejected and an error flag is sent with the next bit.

68 L EDS84DMOTCAN EN 3.0 - 11/2011

10.3 Heartbeat protocol

+

+

The heartbeat protocol can be used for node monitoring purposes within a CAN network.

Basic workflow

Communication manual 8400 motec CANopen

Monitoring

Heartbeat protocol

r: Reserved (always 0)
s: Status of the producer (0: Boot-up, 4: Stopped, 5: Operational, 127: Pre-operational)

[10-1] Heartbeat protocol

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1. A heartbeat producer cyclically transmits a so-called heartbeat telegram to one or more
consumers.

2. The consumer(s) monitor(s) the heartbeat telegram for arrival on a regular basis.

10.3.1 Telegram structure

 The heartbeat telegram of the producer has the following identifier:

Identifier (COB-ID) = 1792 + producer's node address

 The user data (1 byte) contain the status (s) of the producer:

Heartbeat producer status Data

Communication status Decimal value

Boot-up 0 00000000

Stopped 4 00000100

Operational 5 00000101

Pre-operational 127 01111111

(s)

(r) Producer status (s)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

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Monitoring
Heartbeat protocol

10.3.2 Parameter setting

Short overview of the parameters for the "Heartbeat" monitoring function:

Parameter Info Lenze setting Assignment

C00347/1...n CAN status

of heartbeat producer 1

C00381 Heartbeat producer time 0 ms z

C00385/1...n

C00386/1...n

C00592/5

Highlighted in grey = display parameter

Heartbeat producer time

CAN node address
of heartbeat producer 1

Heartbeat consumer time
for heartbeat producer 1

Resp. to heartbeat event No response z

Value Unit Consumer Producer

- z

0 z

0ms z

Time interval for the transmission of the heartbeat telegram to the consumer(s).

 Parameterisable in C00381

or via object I-1017. The parameterised time is rounded

down to an integer multiple of 5 ms.

 The heartbeat telegram is sent automatically as soon as a time > 0 ms is set.

Heartbeat consumer time

Monitoring time for the nodes (producers) to be monitored.

 Parameterisable in C00386/1...n

or via object I-1016.

 The parameterised time is rounded down to an integer multiple of 5 ms and must have

a greater value than the heartbeat producer time of the node to be monitored.

 1 Heartbeat Producer can be monitored.

 The node address(es) of the nodes to be monitored is/are set in C00385/1...n

object I-1016

, too.

or via

70 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

Monitoring

Heartbeat protocol

Heartbeat event

The "Heartbeat event" is activated in the consumer if it does not receive any heartbeat
telegram from the producer within the heartbeat consumer time:

 The consumer changes from the "Operational" communication status to the "Pre-

operational" communication status.

 The NMT master receives an emergency telegram containing emergengy error code

0x8130.

 The response parameterised in C00592/5

 Note!

The heartbeat monitoring will not start until the first heartbeat telegram of a
monitored producer has been received successfully and the "Pre-operational"
NMT status has been achieved.

The boot-up telegram counts as the first heartbeat telegram.

is activated (Lenze setting: "No response").

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Monitoring
Heartbeat protocol

10.3.3 Commissioning example

Task

A controller (node 2) which is configured as heartbeat consumer is to monitor another
controller (heartbeat producer, node 1).

 The heartbeat producer is to transmit a heartbeat telegram to the heartbeat consumer

every 10 ms.

 The heartbeat consumer monitors the heartbeat telegram for arrival. A response is to

be activated in the event of an error.

Parameterising the heartbeat producer (node 1)

1. Set the heartbeat producer time (C00381

Parameterising the heartbeat consumer (node 2)

1. Set the CAN node address of the producer in C00385/1

2. Set the heartbeat consumer time in C00386/1
– Note: The heartbeat consumer time must be greater than the heartbeat producer

time of the node to be monitored set in C00381

3. Set the desired response in C00592/5
the consumer occurs.

) to 10 ms.

.

.

.

which is to be activated if a heartbeat event in

 Tip!

C00347/1...n

Heartbeat telegram

 The heartbeat telegram from the producer has the following identifier:

Identifier (COB-ID) = 1792 + producer node address = 1792 + 1 = 1793 = 0x701

displays the heartbeat status of the nodes monitored.

72 L EDS84DMOTCAN EN 3.0 - 11/2011

10.4 Emergency telegram

If the error status changes because an internal device error occurs or has been eliminated,
the NMT master once receives an emergency telegram with the following structure:

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Emergency error code Error register Manufacturer-specific error message

Low byte High byte I-1001

See table below • For emergency error code 0xF000: Lenze error number

Emergency error code Error register Cause

0x0000 0xXX One of several errors eliminated

0x3100 0x01 Supply voltage of standard device faulty or failed

0x8100 0x11 Communication error (warning)

0x8130 0x11 Life guarding error or heartbeat error

0x8150 0x11 Collision of identifiers (COB-IDs): An identifier parameterised for

0x8210 0x11 PDO length shorter than expected

0x8220 0x11 PDO length greater than expected

0x8700 0x11 Monitoring of the sync telegram

0xF000 0x01 Generic error

Communication manual 8400 motec CANopen

Monitoring

Emergency telegram

0x00

Reserved

(value displayed in C00168)

• All other emergency error codes have a value of "0" here.

0x00 One error has been eliminated (error-free status afterwards)

reception is also used for transmission.

• An error with a "Fault", "Trouble", "TroubleQSP", "Warning", or
"SystemFault" error response occurred in the standard device.

• Error message is the Lenze error number (C00168).

Low word High word

Low byte High byte Low byte High byte

More emergency error codes are listed in the short overview of the error messages of the
operating system in the software manual/»Engineer« online help "Inverter Drives 8400
motec".

Example

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Emergency error code Error register Manufacturer-specific error message

0x00 0xF0 0x01 0x00

Generic error Corresponding error-free message: Value

Reserved

"0x00000000"

Lenze error number

 Tip!

A detalied description can be found in CAN specification DS301, V4.02.

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Diagnostics

11 Diagnostics

Diagnostics with the »Engineer«

In the »Engineer« under the Diagnostics tab, various system bus (CANopen) diagnostics
information is displayed.

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Communication-relevant parameters of the operating system

12 Parameter reference

This chapter complements the parameter list and table of attributes in the software
manual and the »Engineer« online help for the Inverter Drive 8400 motec by the
parameters for CANopen communication.

 Software manual/»Engineer« online help "Inverter Drives 8400 motec"

Here you can find general information on parameters.

12.1 Communication-relevant parameters of the operating system

This chapter lists communication-relevant parameters of the 8400 motec operating
system in numerically ascending order.

C01501

Parameter reference

C01503

Parameter | Name:

C01501 | Resp. to communication error with MCI

Configuration of monitoring modes for the communication unit

Selection list

0 No Reaction

1Fault

4 WarningLocked

Subcodes Lenze setting Info

C01501/1 1: Fault Resp. to MCI error 1

• Response to a communication error.

C01501/2 1: Fault Resp. to MCI error 2

• Response to an incompatible communication unit.

; Read access ; Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1

Parameter | Name:

C01503 | MCI timeout

Setting range (min. value | unit | max. value)

0 ms 1000

Subcodes Lenze setting Info

C01503/1 200 ms MCI timeout

; Read access ; Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1

Data type: UNSIGNED_8

Index: 23074

Data type: UNSIGNED_16

Index: 23072

= 5A22

d

= 5A20

d

h

h

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Parameter reference
Parameters for CANopen communication

12.2 Parameters for CANopen communication

This chapter lists the CANopen parameters of the communication unit in numerically
ascending order.

C00322

C00323

Parameter | Name:

C00322 | Transmission mode CAN TxPDOs

TPDO transmission type according to DS301 V4.02

• The following transmission modes are supported:
–0: Synchronous and acyclic
–1 ... 240: Synchronous and cyclic
–252: Synchronous - only RTR
–253: Asynchronous - only RTR
–254: Asynchronous - manufacturer-specific
–255: Asynchronous - device profile-specific

• The basic setting for all PDOs is the "asychronous - manufacturer-specific" setting (254).

• Mapping of the CANopen objects I-1800/2

Setting range (min. value | unit | max. value)

0 255

Subcodes Lenze setting Info

C00322/1 254 Transmission mode CAN1 OUT

C00322/2 254 Transmission mode CAN2 OUT

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

C00323 | Transmission mode CAN Rx PDOs

RPDO transmission type according to DS301 V4.02

• For the RPDO, it serves as monitoring setting in the case of sync-controlled PDOs.

• The following transmission modes are supported:
–0: Synchronous and acyclic
–1 ... 240: Synchronous and cyclic
–252: Synchronous - only RTR
–253: Asynchronous - only RTR
–254: Asynchronous - manufacturer-specific
–255: Asynchronous - device profile-specific

• The basic setting for all PDOs is the "asychronous - manufacturer-specific" setting (254).

• Mapping of the CANopen objects I-1400/2

Setting range (min. value | unit | max. value)

0 255

Subcodes Lenze setting Info

C00323/1 254 Transmission mode CAN1 IN

C00323/2 254 Transmission mode CAN2 IN

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

and I-1801/2 (see DS301 V4.02).

and I-1401/2 (see DS301 V4.02).

Data type: UNSIGNED_8

Data type: UNSIGNED_8

Index: 24253

Index: 24252

= 5EBD

d

= 5EBC

d

h

h

76 L EDS84DMOTCAN EN 3.0 - 11/2011

C00324

Communication manual 8400 motec CANopen

Parameter reference

Parameters for CANopen communication

C00345

Parameter | Name:

C00324 | CAN Tx inhibit time

Data type: UNSIGNED_16

Index: 24251

= 5EBB

d

Inhibit time for the transmission of the emergency telegram and the process data

Note:

If the "Asynchronous - manufacturer-specific/device profile-specific" transmission time is set, the transmission
cycle timer is reset to 0 if the transmission has been triggered in an event-controlled manner.

Example: Cycle time (C00356/x

) = 500 ms, inhibit time = 100 ms, data change sporadically:

• In the case of a sporadical data change < 500 ms, due to the inhibit time set, transmission takes place as quickly
as possible every 100 ms (event-controlled transmission).

• In the case of a sporadical data change > 500 ms, due to the cycle time set, transmission takes place every 500 ms
(cyclic transmission).

• Mapping of the CANopen objects I-1800/3

and I-1801/3 (see DS301 V4.02).

Setting range (min. value | unit | max. value)

0 ms 6500

Subcodes Lenze setting Info

C00324/1 0 ms Inhibit time for emergency telegrams

C00324/2 0 ms CAN1_OUT inhibit time

C00324/3 0 ms CAN2_OUT inhibit time

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

C00345 | CAN error status

Data type: UNSIGNED_8

Index: 24230

= 5EA6

d

Display of the CAN error status

Selection list (read only)

0 No Error

1 Warning ErrActive

2 Warning ErrPassive

3 Bus off

4 Reserved

5 Reserved

; Read access  Write access  CINH  PLC-STOP ; No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

h

h

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Parameter reference
Parameters for CANopen communication

C00347

C00349

Parameter | Name:

Data type: UNSIGNED_8

C00347 | CAN status HeartBeat producer

Display of the heartbeat producer's CAN status

Heartbeat protocol

( 69)

Selection list

0 Boot-up

4 Stopped

5 Operational

127 Pre-operational

250 Failed

255 NoResponse

Subcodes Info

C00347/1 Status node 1

; Read access  Write access  CINH  PLC-STOP ; No transfer  PDO_MAP_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

Data type: UNSIGNED_16

C00349 | CAN setting, DIP switch

Display of the DIP switch setting at the last mains connection

Possible settings via DIP switch

( 32)

Display area (min. hex value | max. hex value)

0x0000 0xFFFF

Value is bit-coded:

Bit 0 Node address 1

Bit 1 Node address 2

Bit 2 Node address 4

Bit 3 Node address 8

Bit 4 Node address 16

Bit 5 Node address 32

Bit 6 Node address 64

Bit 7 Baud rate 1

Bit 8 Baud rate 2

Bit 9 Baud rate 4

Bit 10 Reserved

... ...

Bit 14 Reserved

Bit 15 Accept DIP switch at 24V-ON

; Read access  Write access  CINH  PLC-STOP ; No transfer  PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Index: 24228

Index: 24226

= 5EA4

d

= 5EA2

d

h

h

78 L EDS84DMOTCAN EN 3.0 - 11/2011

C00350

Communication manual 8400 motec CANopen

Parameter reference

Parameters for CANopen communication

C00351

Parameter | Name:

Data type: UNSIGNED_8

C00350 | CAN node address

Setting of the node address via parameters

• The node address can only be parameterised if the node address "0" is set via the DIP switches.

• A change of the node address will only become effective after a CAN reset node.

Setting the CAN node address

( 33)

Setting range (min. value | unit | max. value) Lenze setting

1631

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

Data type: UNSIGNED_8

C00351 | CAN baud rate

Setting of the baud rate via parameters

• The baud rate can only be parameterised if the baud rate "0" is set via the DIP switches.

• A change of the baud rate will only become effective after a CAN reset node.

Setting the baud rate

( 32)

Selection list (Lenze setting printed in bold)

0 500 kbps

1 250 kbps

2 125 kbps

3 50 kbps

4 1000 kbps

5 20 kbps

14 800 kbps

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Index: 24225

Index: 24224

= 5EA1

d

= 5EA0

d

h

h

C00352

Parameter | Name:

C00352 | CAN Slave/Master

Data type: UNSIGNED_8

Index: 24223

The drive starts as CAN master after mains switching if the value "1" has been entered and saved here.

Selection list (Lenze setting printed in bold)

0Slave

1Master

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

= 5E9F

d

h

EDS84DMOTCAN EN 3.0 - 11/2011 L 79

Communication manual 8400 motec CANopen

Parameter reference
Parameters for CANopen communication

C00353

C00354

Parameter | Name:

Data type: UNSIGNED_8

C00353 | CAN IN/OUT COBID source

Identifier allocation procedure for the CANx_IN/OUT process data

Selection list Info

0 COBID = C0350 + LenzeBaseID COBID = device address + LenzeBaseID

1 COBID = C0350 + CANBaseID COBID = device address + CANBaseID (C00354/x

2 COBID = C0354/x COBID = direct setting from C00354/x

Subcodes Lenze setting Info

C00353/1 1 COBID source CAN1_IN/OUT

C00353/2 1 COBID source CAN2_IN/OUT

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

Data type: UNSIGNED_32

C00354 | COBID

Setting of the default COBID according to CANopen

• A change of the COBID will only become effective after a CAN reset node.

Identifiers of the process data objects

( 51)

Value is bit-coded:

Bit 0 COBID Bit0

... ...

Bit 10 COBID Bit10

Bit 11 Reserved

... ...

Bit 30 Reserved

Bit 31 PDO invalid

Subcodes Lenze setting Info

C00354/1 513 (0x00000201) COBID CAN1_IN

C00354/2 385 (0x00000181) COBID CAN1_OUT

C00354/3 769 (0x00000301) COBID CAN2_IN

C00354/4 641 (0x00000281) COBID CAN2_OUT

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Index: 24222

Index: 24221

= 5E9E

d

)

= 5E9D

d

h

h

C00355

Parameter | Name:

C00355 | Active COBID

Data type: UNSIGNED_16

Index: 24220

= 5E9C

d

Display of the COBID of the PDOs that is active in the CAN stack

Identifiers of the process data objects

( 51)

Display area (min. value | unit | max. value)

0 2047

Subcodes Info

C00355/1 Active COBID CAN1_IN

C00355/2 Active COBID CAN1_OUT

C00355/3 Active COBID CAN2_IN

C00355/4 Active COBID CAN2_OUT

; Read access  Write access  CINH  PLC-STOP ; No transfer  PDO_MAP_RX  PDO_MAP_TX ; COM  MOT

80 L EDS84DMOTCAN EN 3.0 - 11/2011

h

C00356

Communication manual 8400 motec CANopen

Parameter reference

Parameters for CANopen communication

C00357

Parameter | Name:

C00356 | CAN time settings

Data type: UNSIGNED_16

Index: 24219

= 5E9B

d

Different time settings for the CAN interface

Setting range (min. value | unit | max. value)

0 ms 65000

Subcodes Lenze setting Info

C00356/1 3000 ms CAN delay during status change from "Boot-up" to

"Operational"

C00356/2 0 ms CAN2_OUT cycle time

C00356/3 0 ms Reserved

C00356/4 0 ms CANx_OUT time "Operational" to "First transmission"

C00356/5 0 ms CAN1_OUT cycle time

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

C00357 | CAN monitoring times

Data type: UNSIGNED_16

Index: 24218

= 5E9A

d

Mapping of the RPDO event time (see DS301 V4.02)

• If a non-zero value is entered, the RPDO is expected after the time set has elapsed.

• If the RPDO is not received within the expected time, the response set in C00593/1...2

is effected.

Setting range (min. value | unit | max. value)

0 ms 65000

Subcodes Lenze setting Info

C00357/1 3000 ms CAN1_IN monitoring time

C00357/2 3000 ms CAN2_IN monitoring time

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

h

h

C00359

Parameter | Name:

Data type: UNSIGNED_8

C00359 | CAN status

Display of the CAN status

Communication phases/network management

( 40)

Selection list (read only)

0 Operational

1 Pre-operational

2 Reserved

3 Reserved

4 BootUp

5 Stopped

6 Reserved

7 Reset

; Read access  Write access  CINH  PLC-STOP ; No transfer  PDO_MAP_RX  PDO_MAP_TX ; COM  MOT

Index: 24216

= 5E98

d

h

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Communication manual 8400 motec CANopen

Parameter reference
Parameters for CANopen communication

C00360

C00364

Parameter | Name:

Data type: UNSIGNED_16

C00360 | CAN telegram counter

Number of received and sent CAN telegrams

Display area (min. value | unit | max. value)

0 65535

Subcodes Info

C00360/1 All PDOs/SDOs sent

C00360/2 All PDOs/SDOs received

C00360/3 Telegram counter CAN1_OUT

C00360/4 Telegram counter CAN2_OUT

C00360/5 Reserved

C00360/6 Telegram counter SDO1 OUT

C00360/7 Telegram counter SDO2 OUT

C00360/8 Telegram counter CAN1_IN

C00360/9 Telegram counter CAN2_IN

C00360/10 Reserved

C00360/11 Telegram counter SDO1 IN

C00360/12 Telegram counter SDO2 IN

; Read access  Write access  CINH  PLC-STOP ; No transfer  PDO_MAP_RX  PDO_MAP_TX ; COM  MOT

Index: 24215

= 5E97

d

h

Parameter | Name:

Data type: UNSIGNED_8

C00364 | CAN MessageError

Value is bit-coded:

Bit 0 No Error

Bit 1 StuffError

Bit 2 FormError

Bit 3 AckError

Bit 4 Bit1Error

Bit 5 Bit0Error

Bit 6 CRCError

Bit 7 Reserved

; Read access  Write access  CINH  PLC-STOP ; No transfer  PDO_MAP_RX  PDO_MAP_TX ; COM  MOT

Index: 24211

= 5E93

d

h

82 L EDS84DMOTCAN EN 3.0 - 11/2011

C00366

Communication manual 8400 motec CANopen

Parameter reference

Parameters for CANopen communication

C00367

Parameter | Name:

C00366 | Number of CAN SDO channels

Data type: UNSIGNED_8

Index: 24209

= 5E91

d

Available from firmware version 02.00.

Selection of the number of active parameter data channels

• In the Lenze setting in accordance with CANopen, only parameter data channel 1 is activated. To activate both
parameter data channels, set the selection "2 SDO Lenze".

• Mapping of the CANopen object I-1201

(see DS301 V4.02)

Selection list (Lenze setting printed in bold) Info

01 SDO CANopen I-1201

• Subindex1.Bit31 = 1 (client -> server (rx))

• Subindex2.Bit31 = 1 (server -> client (tx))

• Bit 31 = 1 (SDO invalid/not available)

1 2 SDO Lenze I-1201

• Subindex1.Bit31 = 0 (client -> server (rx))

• Subindex2.Bit31 = 0 (server -> client (tx))

• Bit 31 = 1 (SDO valid/available)

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

C00367 | CAN sync-Rx identifier

Data type: UNSIGNED_16

Index: 24208

= 5E90

d

Identifier by means of which the sync slave is to receive sync telegrams.

• Mapping of the CANopen object I-1005

PDO synchronisation via sync telegram

(see DS301 V4.02).

( 54)

Setting range (min. value | unit | max. value) Lenze setting

128 255 128

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

h

h

C00368

C00369

Parameter | Name:

Data type: UNSIGNED_16

C00368 | CAN sync-Tx identifier

Identifier by means of which the sync master is to transmit sync telegrams.

• Mapping of the CANopen object I-1005

PDO synchronisation via sync telegram

(see DS301 V4.02).

( 54)

Setting range (min. value | unit | max. value) Lenze setting

128 255 128

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

Data type: UNSIGNED_16

C00369 | CAN sync transmission cycle time

Cycle during which the sync master is to transmit sync telegrams.

• If "0 ms" is set (Lenze setting), no sync telegrams are generated.

• Mapping of the CANopen object I-1006

PDO synchronisation via sync telegram

(see DS301 V4.02).

( 54)

Setting range (min. value | unit | max. value) Lenze setting

0 ms 65000 0ms

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Index: 24207

Index: 24206

= 5E8F

d

= 5E8E

d

h

h

EDS84DMOTCAN EN 3.0 - 11/2011 L 83

Communication manual 8400 motec CANopen

Parameter reference
Parameters for CANopen communication

C00372

C00381

C00385

Parameter | Name:

Data type: UNSIGNED_8

C00372 | CAN_Tx_Rx_Error

Display of CAN transmission and reception errors

Display area (min. value | unit | max. value)

0 ms 255

Subcodes Info

C00372/1 Transmission error (Tx_Error)

C00372/2 Receipt error (Rx_Error)

; Read access  Write access  CINH  PLC-STOP ; No transfer  PDO_MAP_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

Data type: UNSIGNED_16

C00381 | CAN Heartbeat Producer Time

Time interval for the transmission of the heartbeat telegram to the consumer(s).

• The heartbeat telegram is sent automatically as soon as a time > 0 ms is set.

• Mapping of the CANopen object I-1017

Heartbeat protocol

( 69)

(see DS301 V4.02).

Setting range (min. value | unit | max. value) Lenze setting

0 ms 65535 0ms

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Index: 24203

Index: 24194

= 5E8B

d

= 5E82

d

h

h

C00386

Parameter | Name:

Data type: UNSIGNED_8

C00385 | CAN NodeID heartbeat producer

Subcode 1 represents the node which is to be monitored via heartbeat.

Heartbeat protocol

( 69)

Setting range (min. value | unit | max. value)

0 127

Subcodes Lenze setting Info

C00385/1 0 CAN NodeID heartbeat producer 1

; Read access ; Write access  CINH  PLC-STOP ; No transfer  PDO_MAP_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

Data type: UNSIGNED_16

C00386 | ConsumerTime HeartBeat producer

Monitoring time for the nodes to be monitored

• Mapping of the CANopen object I-1016

Heartbeat protocol

( 69)

(see DS301 V4.02).

Setting range (min. value | unit | max. value)

0 ms 60000

Subcodes Lenze setting Info

C00386/1 0 ms ConsumerTime HeartBeat Producer 1

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Index: 24190

Index: 24189

= 5E7E

d

= 5E7D

d

h

h

84 L EDS84DMOTCAN EN 3.0 - 11/2011

C00389

Communication manual 8400 motec CANopen

Parameter reference

Parameters for CANopen communication

C00409

Parameter | Name:

Data type: UNSIGNED_8

C00389 | PDO valid / not valid

Validity of the PDOs

Selection list (Lenze setting printed in bold)

0 PDO available/valid

1 PDO not available/invalid

Subcodes Lenze setting Info

C00389/1 0 PDO valid / invalid CAN1_IN

C00389/2 0 PDO valid / invalid CAN1_OUT

C00389/3 0 PDO valid / invalid CAN2_IN

C00389/4 0 PDO valid / invalid CAN2_OUT

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX ; COM  MOT

Parameter | Name:

Data type: UNSIGNED_16

C00409 | LP_CanIn Mapping

Mapping for the port blocks LP_CanIn1...2

• Mapping of the CANopen objects I-1600

... I-1601 (see DS301 V4.02)

Setting range (min. value | unit | max. value)

0 65535

Subcodes Lenze setting Info

C00409/1 0 LP_CanIn1_wIn1(wCtrl)

C00409/2 0 LP_CanIn1_wIn2

C00409/3 0 LP_CanIn1_wIn3

C00409/4 0 LP_CanIn1_wIn4

C00409/5 0 LP_CanIn2_wIn1

C00409/6 0 LP_CanIn2_wIn2

C00409/7 0 LP_CanIn2_wIn3

C00409/8 0 LP_CanIn2_wIn4

; Read access ; Write access  CINH  PLC-STOP  No transfer ; PDO_MAP_RX  PDO_MAP_TX  COM  MOT

Index: 24186

Index: 24166

= 5E7A

d

= 5E66

d

h

h

EDS84DMOTCAN EN 3.0 - 11/2011 L 85

Communication manual 8400 motec CANopen

Parameter reference
Parameters for CANopen communication

C00592

C00593

Parameter | Name:

C00592 | Resp. to CAN bus connection

Data type: UNSIGNED_8

Index: 23983

= 5DAF

d

Configuration of monitoring of the CAN interface

Selection list

0 No Reaction

1Fault

2Trouble

4 WarningLocked

Subcodes Lenze setting Info

C00592/1 0: No Reaction Response to an incorrect telegram during CAN

communication

C00592/2 0: No Reaction Response to "BusOff" (bus system switched off)

C00592/3 0: No Reaction Response to warnings of the CAN controller

C00592/4 0: No Reaction Response to communication stop of a CAN bus node

C00592/5 0: No Reaction Response to an event in the case of monitoring via

heartbeat protocol

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX  COM  MOT

Parameter | Name:

C00593 | Resp. to CANx_IN monitoring

Data type: UNSIGNED_8

Index: 23982

= 5DAE

d

Configuration of monitoring for the reception of PDOs CAN1_IN and CAN2_IN

Selection list

0 No Reaction

1Fault

2Trouble

4 WarningLocked

Subcodes Lenze setting Info

C00593/1 0: No Reaction Response if the monitoring time set in C00357/1

for the

reception of the PDO CAN1_IN is exceeded.

C00593/2 0: No Reaction Response if the monitoring time set in C00357/2

for the

reception of the PDO CAN2_IN is exceeded.

; Read access ; Write access  CINH  PLC-STOP  No transfer  PDO_MA P_RX  PDO_MAP_TX  COM  MOT

h

h

86 L EDS84DMOTCAN EN 3.0 - 11/2011

12.3 Table of attributes

How to read the table of attributes:

Column Meaning Entry

Code Parameter name Cxxxxx

Name Parameter short text (display text) Text

Index dec Index under which the parameter is addressed.

hex 5FFF

Data DS Data structure E Single variable

DA Number of array elements (subcodes) Number

DT Data type BITFIELD_8 1 byte, bit-coded

Factor Factor for data transmission via a bus system,

Access R Read access ; Reading permitted

W Write access ; Writing permitted

CINH Controller inhibit required ; Writing is only possible if controller inhibit is set

The subindex for array variables corresponds to the
Lenze subcode number.

depending on the number of decimal positions

Communication manual 8400 motec CANopen

Parameter reference

Table of attributes

24575 - Lenze code number Is only required for access via a bus

- Lenze code number

h

A Array variable

BITFIELD_16 2 bytes bit-coded

BITFIELD_32 4 bytes, bit-coded

INTEGER_8 1 byte with sign

INTEGER_16 2 bytes with sign

INTEGER_32 4 bytes with sign

UNSIGNED_8 1 byte without sign

UNSIGNED_16 2 bytes without sign

UNSIGNED_32 4 bytes, without sign

VISIBLE_STRING ASCII string

OCTET_STRING

Factor 1 ≡ no decimal positions

system.

(only one parameter element)

(several parameter elements)

10 ≡ 1 decimal position
100 ≡ 2 decimal positions
1000 ≡ 3 decimal positions

EDS84DMOTCAN EN 3.0 - 11/2011 L 87

Communication manual 8400 motec CANopen

Parameter reference
Table of attributes

Table of attributes

Code Name Index Data Access

dec hex DS DA Data type Factor R W CINH

C00322

C00323

C00324

C00345

C00347

C00349

C00350

C00351

C00352

C00353

C00354

C00355

C00356

C00357

C00359

C00360

C00364

C00366

C00367

C00368

C00369

C00372

C00381

C00385

C00386

C00389

C00409

C00592

C00593

Transmission mode CAN TxPDOs 24253 5EBD A 2 UNSIGNED_8 1 ;;

Transmission mode CAN Rx PDOs 24252 5EBC A 2 UNSIGNED_8 1 ;;

CAN Tx inhibit time 24251 5EBB A 3 UNSIGNED_16 1 ;;

CAN error status 24230 5EA6 E 1 UNSIGNED_8 1 ;

CAN status HeartBeat producer 24228 5EA4 A 1 UNSIGNED_8 1 ;

CAN setting - DIP switch 24226 5EA2 E 1 UNSIGNED_16 ;

CAN node address 24225 5EA1 E 1 UNSIGNED_8 1 ;;

CAN baud rate 24224 5EA0 E 1 UNSIGNED_8 1 ;;

CAN slave/master 24223 5E9F E 1 UNSIGNED_8 1 ;;

CAN IN/OUT COBID source 24222 5E9E A 2 UNSIGNED_8 1 ;;

COBID 24221 5E9D A 4 UNSIGNED_32 ;;

Active COBID 24220 5E9C A 4 UNSIGNED_16 1 ;

CAN time settings 24219 5E9B A 5 UNSIGNED_16 1 ;;

CAN monitoring times 24218 5E9A A 2 UNSIGNED_16 1 ;;

CAN status 24216 5E98 E 1 UNSIGNED_8 1 ;

CAN telegram counter 24215 5E97 A 12 UNSIGNED_16 1 ;

CAN MessageError 24211 5E93 E 1 UNSIGNED_8 ;

Number of CAN SDO channels 24209 5E91 E 1 UNSIGNED_8 1 ;;

CAN sync Rx identifier 24208 5E90 E 1 UNSIGNED_16 1 ;;

CAN sync Tx identifier 24207 5E8F E 1 UNSIGNED_16 1 ;;

CAN sync transmission cycle time 24206 5E8E E 1 UNSIGNED_16 1 ;;

CAN_Tx_Rx_Error 24203 5E8B A 2 UNSIGNED_8 1 ;

CAN heartbeat producer time 24194 5E82 E 1 UNSIGNED_16 1 ;;

CAN NodeID Heartbeat producer 24190 5E7E A 1 UNSIGNED_8 1 ;;

ConsumerTime HeartBeat Producer 24189 5E7D A 1 UNSIGNED_16 1 ;;

PDO valid / invalid 24186 5E7A A 4 UNSIGNED_8 1 ;;

LP_CanIn mapping 24166 5E66 A 8 UNSIGNED_16 1 ;;

Resp. to CAN bus connection 23983 5DAF A 5 UNSIGNED_8 1 ;;

Resp. to CANx_IN monitoring 23982 5DAE A 2 UNSIGNED_8 1 ;;

88 L EDS84DMOTCAN EN 3.0 - 11/2011

Communication manual 8400 motec CANopen

13 Implemented CANopen objects

Lenze devices can be parameterised with both Lenze codes and manufacturer­independent "CANopen objects". Completely CANopen-compliant
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.

 Note!

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

Overview of CANopen indexes and their relationship to Lenze codes

Implemented CANopen objects

communication can

CANopen object Relationship to Lenze

Index Subindex Name

I-1000

I-1001

I-1003

I-1005

I-1006 0 Communication cycle period C00369

I-1014 0COB-ID EMCY -

I-1016

I-1017 0 Producer heartbeat time C00381

I-1018 Identity object

I-1200

I-1201

0 Device type -

0 Error register -

Predefined error field

0 Number of errors -

1 ... 10 Standard error field -

0 COB-ID SYNC message C00367

Consumer heartbeat time

0 Highest subindex supported -

1 Consumer heartbeat time C00385/1...n

0 Highest subindex supported -

1Vendor ID -

2 Product code -

3 Revision number -

4 Serial number -

SDO1 server parameter

0 Highest subindex supported -

1 COB-ID client −> server (rx) -

2COB-ID server −> client (tx) -

SDO2 server parameter C00366

0 Highest subindex supported

1 COB-ID client −> server (rx)

2COB-ID server −> client (tx)

code

C00368

C00386/1...n

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Communication manual 8400 motec CANopen

Implemented CANopen objects

CANopen object Relationship to Lenze

Index Subindex Name

I-1400 RPDO1 communication parameter

0 Highest subindex supported -

1 COB-ID used by RPDO C00355/1

2 Transmission type C00323/1

I-1401 RPDO2 communication parameter

0 Highest subindex supported -

1 COB-ID used by RPDO C00355/3

2 Transmission type C00323/2

I-1600 RPDO1 mapping parameter

0 Number of mapped application objects in PDO -

1 ... 4 Application object 1 ... 4 C00409/1...4

I-1601 RPDO2 mapping parameter

0 Number of mapped application objects in PDO -

1 ... 4 Application object 1 ... 4 C00409/5...8

I-1800 TPDO1 communication parameter

0 Highest subindex supported -

1 COB-ID used by TPDO C00355/2

2 Transmission type C00322/1

3 Inhibit time -

5Event timer C00356/5

I-1801 TPDO2 communication parameter

0 Highest subindex supported -

1 COB-ID used by TPDO C00355/4

2 Transmission type C00322/2

3 Inhibit time -

5Event timer C00356/2

I-1A00 TPDO1 mapping parameter

0 Number of mapped application objects in PDO -

1 ... 4 Application object 1 ... 4 -

I-1A01

TPDO2 mapping parameter

0 Number of mapped application objects in PDO -

1 ... 4 Application object 1 ... 4 -

code

C00369

C00369

90 L EDS84DMOTCAN EN 3.0 - 11/2011

I-1000 - Device type

Communication manual 8400 motec CANopen

Implemented CANopen objects

Index

I-1000

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

0: Device type 0

Name:

Device type

0 4294967295 ro U32

The CANopen index I-1000 specifies the profile for this device. Furthermore, additional
information defined in the device profile itself can be stored here.

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

Data 4 Data 3 Data 2 Data 1

High word Low word

High byte Low byte High byte Low byte

Additional information Device profile number

[13-1] Data telegram assignment

In case of 8400 series controllers, the four bytes contain the following values:

 5th and 6th byte: The data contents are 0x0000, i.e. no profile definition.

 7th byte: The data content specifies the device type: Here the value is 0x00 for

controllers.

 8th byte: The data contents are 0x00.

The data content for the 8400 controller thus is: 00 00 00 00

I-1001 - Error register

Index:

I-1001

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

0: Error register - 0 255 ro U8

Name:

Error register

Error register

The error status in the data byte (U8) is bit-coded. The following error states are coded in
the data byte (U8):

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Error status

00000000No error

00000001Device error message

00010001Communication error

EDS84DMOTCAN EN 3.0 - 11/2011 L 91

Communication manual 8400 motec CANopen

Implemented CANopen objects

I-1003 - Pre-defined error field

Index:

I-1003

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

0: Number of errors 0 0 255 rw U8

1 ... 10: Standard error field - 0 4294967295 ro U32

Name:

Predefined error field

Error history

This object indicates that an error has occurred in the module and in the standard device.

Subindex Meaning

0 Number of saved error messages

1 ... 10 Display of the error list

The error messages (U32) consist of a 16-bit error code and a manufacturer-specific
information field comprising 16 bits.

 Note!

The values of the "Standard error field" in subindex 1 ... 10 will be deleted if the
"Number of recorded errors" subindex is overwritten with a value of "0".

Emergency

Error code

0x0000 One of several errors eliminated 0xXX

0x1000 Standard device is in error status (error response "fault", "message",

0x3100 Supply voltage of standard device faulty or failed 0x01

0x8100 Communication error (warning) 0x11

0x8130 Life guard error or heartbeat error 0x11

0x8150 Collision of COB IDs: An ID parameterised for reception is also used

0x8210 PDO length shorter than expected 0x11

0x8220 PDO length greater than expected 0x11

0x8700 Monitoring of the sync telegram 0x11

Cause Entry in the

Error register

(I-1001

)

Elimination of one single error
(afterwards no more errors)

"warning", "error", "quick stop by trouble", or "system error")

for transmission.

0x00

0x01

0x11

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I-1005 - COB-ID SYNC message

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Implemented CANopen objects

Index:

I-1005

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

0: COB-ID SYNC message 0x0000 0080

Name:

COB-ID SYNC message

or
0x8000 0080

0 4294967295 rw U32

This object can be used to activate the generation of sync telegrams and to write the
identifier value.

This object relates to codes C00367

and C00368.

Creating sync telegrams

Sync telegrams are generated by setting bit 30 (see below) to a value of "1". The time
interval between the sync telegrams can be set using object I-1006

.

Writing identifiers

For the reception of PDOs, the value 0x80 is entered in the Lenze setting (and according to
CANopen specification) into the 11 bit identifier. This means that all

modules are set to the

same sync telegram by default.

 If sync telegrams are only to be received by certain

communication modules, their

identifiers can be entered with values up to and including 0x07FF.

 The identifier may only be changed when the communication module does not send

any sync telegrams (bit 30 = "0").

 How to change the identifier:

– Deactivate identifier (set bit 30 to "0").
– Change identifier.
– Activate identifier (set bit 30 to "1").

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

x 0/1 Extended identifier* 11-bit identifier

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

[13-2] Data telegram assignment

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I-1006 - Communication cycle period

Index:

I-1006

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

0: Communication cycle period 0 μs0 μs 65535000 rw U32

Name:

Communication cycle period

Setting the sync telegram cycle time.

 The cycle time can be selected as "1000" or as an integer multiple of it.

 If "0 μs" is set
 This object relates to code C00369

(Lenze setting), no sync telegrams are generated.

.

I-1014 - COB-ID EMCY

Index:

I-1014

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

0: COB-ID EMCY 0x80 + nod e ID 0 4294967295 rw U32

Name:

COB-ID EMCY

When communication errors occur and are acknowledged or when internal errors occur in
the communication module or controller (e.g. "fault"), an error message is sent on the
system bus. The telegram is sent once for every error. This function can be activated or
deactivated with bit 31.

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 Extended identifier* 11-bit identifier

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

[13-3] Data telegram assignment

Bit Setting

Bit 31 0 Emergency object is valid.

1 Emergency object is invalid.

 Note!

The identifier can only be changed in the "emergency object invalid" status
(bit 31 = 1).

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I-1016 - Consumer heartbeat time

Implemented CANopen objects

Index:

I-1016

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

0: Highest subindex supported 1 - (read access only) ro U16

1 ... n: Consumer heartbeat time 0 0 65535 rw U16

Name:

Consumer heartbeat time

Monitoring time for the nodes to be monitored via heartbeat.

Heartbeat protocol

( 69)

The parameterised time is rounded down to an integer multiple of 5 ms and must have a
greater value than the heartbeat producer time of the node to be monitored.

Subindex Meaning Lenze code

0 Number of nodes to be monitored

1 ... n Node ID and heartbeat time of the node to be monitored Node ID:

C00385/x

Heartbeat time:

C00386/x

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

Data 4 Data 3 Data 2 Data 1

Bit 31 ... bit 24 Bit 23 ... bit 16 Bit 15 ... bit 0

0

Reserved

[13-4] Data telegram assignment

Node ID Heartbeat time

in [ms]

I-1017 - Producer heartbeat time

Index:

I-1017

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

0: Producer heartbeat time 0 0 ms 65535 rw U16

Name:

Producer heartbeat time

Time interval for the transmission of the heartbeat telegram to the consumer(s).

Heartbeat protocol

( 69)

 The parameterised time is rounded down to an integer multiple of 5 ms.

 The heartbeat telegram is sent automatically as soon as a tim e > 0 ms is s et. In th is c ase

the monitoring function "Node Guarding" is deactivated.

 This object relates to code C00381

.

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I-1018 - Identity object

Index:

I-1018

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

0: Highest subindex supported See below 0 4294967295 ro U32

1: Vendor ID

2: Product code

3: Revision number

4: Serial number

Subindex Meaning

1 Manufacturer's identification number

2 Product code

3 Main version and subversion of firmware

4 Serial number

Name:

Identity object

• The identification number allocated to Lenze by the organisation "CAN in
Automation e. V." is "0x0000003B".

I-1200 - SDO1 server parameter

Index:

I-1200

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

0: Highest subindex supported 2 2 2 ro U8

1: COB-ID client -> server (rx) Node ID + 0x600 0 4294967295 ro U32

2: COB-ID server -> client (tx) Node ID + 0x580 0 4294967295 ro U32

Name:

SDO1 server parameter

Identifiers for SDO server channel 1 (basic SDO channel).

According to DS301 V4.02, the basic SDO channel can neither be changed nor deactivated.

Subindex Meaning

1 Specification of the receive identifier

• For SDO server channel 1: node address (C00350) + 0x600

2 Specification of the transmit identifier

• For SDO server channel 1: node address (C00350) + 0x580

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 0 Extended identifier* 11-bit identifier

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

[13-5] Data telegram assignment

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I-1201 - SDO2 server parameter

Communication manual 8400 motec CANopen

Implemented CANopen objects

Index:

I-1201

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

0: Highest subindex supported 3 - (read access only) ro U8

1: COB-ID client -> server (rx) 0x80000000 0 4294967295 rw U32

2: COB-ID server -> client (tx) 0x80000000 0 4294967295 rw U32

Name:

SDO2 server parameter

Setting of the identifiers for SDO server channel 2.

 The server SDO parameter is only valid if bit 31 is set to "0" for both transmission

directions (subindex 1 and 2).

 In the Lenze setting, SDO server channel 2 is deactivated (bit 31 = "1").

 The identifier may only be changed when the SDO is invalid (bit 31 = "1").

Subindex Meaning

1 Specification of the receive identifier

2 Specification of the transmit identifier

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 Extended identifier* 11-bit identifier

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

[13-6] Data telegram assignment

Bit Setting

Bit 31 0 SDO is valid.

1 SDO is invalid.

How to change the identifier:

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

2. Change identifier.

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

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Example Parameter data channel 2 of the controller with node address 4 is to be activated.

 For this, bit 31 must be set to the value "0" (SDO is valid) in subindexes 1 and 2 of object

I-1201

 The master must send the two "write request" commands to the nodes via the basic

SDO channel.

Identifier calculation

 Identifier (COB-ID) = basic identifier + node address (node ID)

 Basic identifier SDO2 from master to drive: 1600 (0x640)

 identifier = 0x640 + 0x4 = 0x644

 Basic identifier SDO2 from drive to master: 1472 (0x5C0)

 identifier = 0x5C0 + 0x4 = 0x5C4

Resulting data (data 1 ... data 4)

.

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 0 Extended identifier = 0 11-bit identifier = 0x644

0x00 0x00 0x06 0x44

[13-7] Data telegram assignment for subindex 1

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 0 Extended identifier = 0 11-bit identifier = 0x5C4

0x00 0x00 0x05 0xC4

[13-8] Data telegram assignment for subindex 2

User data assignment

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

0x23 0x01 0x12 0x01 0x44 0x06 0x00 0x00

[13-9] User data assignment for writing to subindex 1

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

0x23 0x01 0x12 0x02 0xC4 0x05 0x00 0x00

[13-10] User data assignment for writing to subindex 2

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I-1400 - RPDO1 communication parameter

Implemented CANopen objects

Index:

I-1400

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 RPDO 0x200 + node ID 0 4294967295 rw U32

2: Transmission type 254 0 255 rw U8

3: Inhibit time - - (not used for RPDOs) rw U16

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

5: Event timer - - (not used for RPDOs) rw U16

Name:

RPDO1 communication parameter

message 0x06090011)

rw U8

Communication parameters for receiving process data via RPDO1

Subindex Meaning Code

0 The value 5 is permanently set.

• Max. 5 subindexesare supported.

1 RPDO1 identifier

• According to the "Predefined Connection Set", the
basic setting is: identifier = 0x200 + node ID

2 RPDO transmission type according to DS301 V4.02

Transmission type

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".

( 52)

-

C00354/1

C00323/1

[13-11] 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").

Description of subindex 1

Bit no. Value Explanation

0 ... 10 0/1 11-bit identifier

(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".

29* 0

30 0 RTR to this PDO permissible (cannot be set)

1 RTR to this PDO not permissible (Lenze)

31 0 PDO active

1 PDO not active

[13-12] I-1400 / I-1401, subindex 1

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Description of subindex 2

PDO transmission Transmission type Explanation

cyclic synchronous event-controlled

zz n = 1 ... 240 When a value n is entered, this PDO

z n = 254 PDO will be accepted immediately.

[13-13] I-1400 / I-1401, subindex 2

I-1401 - RPDO2 communication parameter

will be accepted with every nth sync.

Index:

I-1401

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 RPDO 0x300 + node ID 0 4294967295 rw U32

2: Transmission type 254 0 255 rw U8

3: Inhibit time - - (not used for RPDOs) rw U16

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

5: Event timer - - (not used for RPDOs) rw U16

Name:

RPDO2 communication parameter

message 0x06090011)

rw U8

Communication parameters for receiving process data via RPDO2

Subindex Meaning Code

0 The value 5 is permanently set.

• Max. 5 subindexesare supported.

1 RPDO2 identifier

• According to the "Predefined Connection Set", the
basic setting is: identifier = 0x300 + node ID

2 RPDO transmission type according to DS301 V4.02

Transmission type

( 52)

-

C00354/3

C00323/2

For data telegram assignment and description of subindexes 1 and 2, see object I-1400

How to change the identifier:

.

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

2. Change identifier.

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

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