Basic Identifiers Of The Can Objects - Lenze E82ZAFCC100 Instructions De Montage

7 Commissioning

Basic identifiers of the CAN objects

Basic identifiers of the CAN objects
The CAN bus system is message−oriented. Each message has an unambiguous identifier.
With CANopen, there is only one sender for each message for device−orientation.
Except for the network management and the sync telegram, the identifier contains the
node address of the controller:
Identifier (COB−ID) = basic identifier + adjustable node address (node ID)
The identifier assignment is specified in the CANopen protocol.
The basic identifier in accordance with the CANopen specification ex works is preset to the
following values:
Object
NMT
Sync
TPDO 1
(CAN−OUT1)
PDO1
RPDO1
(CAN−IN1)
TPDO2
(CAN−OUT2)
PDO2
RPDO2
(CAN−IN2)
SDO1
SDO2
Configuration of PDO (sync−controlled or time−controlled) via C0360
62
From the
controller
sync−controlled
time−controlled
sync−controlled
time−controlled
time−controlled
time−controlled
l
Direction
To the
controller
X
X
X
X
X
X
X
X
Basic identifier
Dec Hex
0 0
128 80
384 180
769 301
512 200
768 300
641 281
640 280
1408 580
1536 600
1472 5C0
1600 640
EDK82ZAFCC−100 DE/EN/FR 6.0