Document Outline

• E84DGFCCxxx - CANopen communication unit
  • Contents
    • 1 About this documentation
      • 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
      • 4.3 Communication time
    • 5 Installation
      • 5.1 Mechanical installation
      • 5.2 Electrical installation
        • 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
    • 6 Commissioning
      • 6.1 Before initial switch-on
      • 6.2 Configuring the host (master)
      • 6.3 Possible settings via DIP switch
        • 6.3.1 Setting the baud rate
        • 6.3.2 Setting the CAN node address
      • 6.4 Settings in the Lenze »Engineer«
      • 6.5 Initial switch-on
    • 7 Data transfer
      • 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
      • 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
        • 10.3.1 Telegram structure
        • 10.3.2 Parameter setting
        • 10.3.3 Commissioning example
      • 10.4 Emergency telegram
    • 11 Diagnostics
    • 12 Parameter reference
      • 12.1 Communication-relevant parameters of the operating system
        • C01501 | Resp. to communication error with MCI
        • C01503 | MCI timeout
      • 12.2 Parameters for CANopen communication
        • C00322 | Transmission mode CAN TxPDOs
        • C00323 | Transmission mode CAN Rx PDOs
        • C00324 | CAN Tx inhibit time
        • C00345 | CAN error status
        • C00347 | CAN status HeartBeat producer
        • C00349 | CAN setting, DIP switch
        • C00350 | CAN node address
        • C00351 | CAN baud rate
        • C00352 | CAN Slave/Master
        • C00353 | CAN IN/OUT COBID source
        • C00354 | COBID
        • C00355 | Active COBID
        • C00356 | CAN time settings
        • C00357 | CAN monitoring times
        • C00359 | CAN status
        • C00360 | CAN telegram counter
        • C00364 | CAN MessageError
        • C00366 | Number of CAN SDO channels
        • C00367 | CAN sync-Rx identifier
        • C00368 | CAN sync-Tx identifier
        • C00369 | CAN sync transmission cycle time
        • C00372 | CAN_Tx_Rx_Error
        • C00381 | CAN Heartbeat Producer Time
        • C00385 | CAN NodeID heartbeat producer
        • C00386 | ConsumerTime HeartBeat producer
        • C00389 | PDO valid / not valid
        • C00409 | LP_CanIn Mapping
        • C00592 | Resp. to CAN bus connection
        • C00593 | Resp. to CANx_IN monitoring
      • 12.3 Table of attributes
    • 13 Implemented CANopen objects
      • Overview of CANopen indexes and their relationship to Lenze codes
      • I-1000 - Device type
      • I-1001 - Error register
      • I-1003 - Pre-defined error field
      • I-1005 - COB-ID SYNC message
      • I-1006 - Communication cycle period
      • I-1014 - COB-ID EMCY
      • I-1016 - Consumer heartbeat time
      • I-1017 - Producer heartbeat time
      • I-1018 - Identity object
      • I-1200 - SDO1 server parameter
      • I-1201 - SDO2 server parameter
      • I-1400 - RPDO1 communication parameter
      • I-1401 - RPDO2 communication parameter
      • I-1600 - RPDO1 mapping parameter
      • I-1601 - RPDO2 mapping parameter
      • I-1800 - TPDO1 communication parameter
      • I-1801 - TPDO2 communication parameter
      • I-1A00 - TPDO1 mapping parameter
      • I-1A01 - TPDO2 mapping parameter
    • 14 DIP switch positions for setting the CAN node address
    • 15 Index