1 general information, 10 canopen option – Lenze E84DSxxx User Manual
Page 372
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10
CANopen option
10.1
General information
372
Lenze · 8400 protec StateLine · Reference manual · DMS 4.2 EN · 03/2013 · TD05
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10.1
General information
For many years, the system bus (CAN) based on the CANopen communication profile has been
integrated in Lenze controllers. Due to the lower number of data objects available, the functionality
and compatibility of the previous system bus are lower as compared to CANopen. For parameter
setting, two parameter data channels are always available to the user while CANopen provides only
one active parameter channel.
The system bus (CANopen) of the Inverter Drives 8400 is a further development of the system bus
(CAN) including the following properties:
• 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
• Due to the 2 server SDO channels, an address range of 1 ... 63 is provided.
• Number of parameterisable PDO channels:
• Max. 3 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
• Max. 3 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
• absent PDOs
• Telegram counters for SDOs and PDOs
• Bus status diagnostics
• Boot-up telegram generation
• Emergency telegram generation
• Reset node telegram generation (in case of master configuration)
• Sync telegram generation and response to sync telegrams:
• Data transmission/reception
• Device-internal time base synchronisation
• Abort codes
• All CAN on board functions can be parameterised via codes
• Object directory (all mandatory functions, optional functions, indexes)
- ESMD smd tmd remote keypad
- EPM Programmer EEPM1RA
- ESMDC
- SMD Frequency Inverter 0.37kW-22kW
- SMD Frequency Inverter: Basic I/O with CANopen 0.25kW-4.0kW
- SMD 0-25kW-4-0kW
- smd Series Drives
- ESV SMV remote keypad H0
- ESV SMV remote keypad H1
- SV SMV additional I-O module
- EEPM1RA EPM
- SMVector RS-485 LECOM
- E84AYM10S
- E84AYCET EtherCAT MCI module
- EZAMBKBM
- E84AYCEC
- ERBPxxxRxxxx Brake resistor 200W-300W
- E84AYCPM
- E84AYCEO
- E84AYCER
- E84AVSCx 8400 StateLine C
- EZVxxxx-000 Power supply unit AC 230V 5A-20A
- E84AYCIB
- E82ZWBRB
- EZVxx00−001 Power supply unit AC 400V 5A-20A
- E82ZWBRE
- EZAEBK1001
- E94AYAE SM301
- E94AYAE SM301
- E94AYAE SM301
- E94AZPS
- E94AYCIB
- E94AYCIB
- E94AZEX100
- EZS3-xxxA200 Sinusoidal filter 115-150A
- E94AZHA0051
- E94AZCDM030
- EZS3-xxxA200 Sinusoidal filter 180-480A
- E94AYCCA
- E94AYCCA
- E94AZHB0101
- E94AYCPM
- E94AYCPM
- E94AYCET
- E94AYCET
- E94AZMP
- E94AZMP
- E94AZHN0025
- E94AZHN0026
- E94AMHE
- E94AZKAE
- E94AZMR
- E94AZHX0051
- E94APNE
- E94AYCEC
- E94AYCEC
- E94AYAA − SM0
- E94AYCEP
- E94AYCEP
- E94AZMS0034
- EMF2173IB
- EMF2173IB
- E94AZHY0025
- E94AYCEN
- E94AYCEN
- E94APNExxx4
- E94AYAB − SM100
- E94AYAB − SM100
- E94AZJA003
- E94AZHY0026
- E94ARNE
- E94AYAD - SM300
- E94AYAD - SM300
- E94AZJA007
- E94AZRP0084
- E94A
- E94AZHY0101
- E94AYM33
- E94AZRP2004
- E94AZJA024
- E94AYCEO
- E94AYCEO
- E94AYFLF
- E94ASHExxxx
- E94AYM34
- E94AYCER
- E94AYCER
- E94AZRS0044
- E94AZCEH
- E94AYM11
- E94ASHE Axis Single Drive 32-104A
- E94AYM43
- E94AZRS0544
- E94AZCUS
- E94AYCDN
- E94AYCDN
- E94AYM22
- E94AZPM
- E94AZPP
- EZAEBK200x
- E84DGFCP
- E84DGFCC
- E84DGFCT
- E84DGFCT
- E84DGFCR
- E84DGFCG
- E84DZMAWE1
- E84DGFCA
- GST
- DISCO−Variable speed drive
- SIMPLABELT Compact Units
- GKK
- g500
- 12xxx-52xxx Gearboxes
- GPA servo planetary geared motors
- g700 Planetary gearboxes with servo
- E82ZAFPC001
- E82ZAFPC010
- E82ZAFPC010
- E82ZAFPC201
- E82ZAFPC201
- EMF2133IB
- EMF2133IB
- 2130IB
- 2131IB
- EMF2112IB
- 931E
- 931K
- 931E
- 931M
- 931M
- 931M
- E84Dxxxx
- E84Dxxxx
- PROFIBU PC-based Automation
- EY System cables and system connectors
- E82ZAFLC001
- E82ZAFLC010
- EMF2102IBC
- EMF2103IB
- EMF2102IB
- EMF2111IB
- EMF2113IB
- EMF2113IB
- E82ZAFIC001
- E82ZAFIC010
- E82ZAFIC010
- EMF2191IB
- EMF2191IB
- EMF2180IB
- EMF2192IB
- EMF2192IB
- EtherCAT control technology
- EMF2179IB
- EMF2179IB
- E82ZAFVC010
- E82ZAFVC001
- E82ZAFVC001_
- CANopen control technology
- E82ZAFCC001
- E82ZAFCC010
- EMF2178IB
- EMF2178IB
- E82ZAFCC100
- E82ZAFCC200
- E82ZAFCC210
- E82ZAFUC001
- E82ZAFUC010
- EMF2174IB
- EMF2176IB_
- DDS System bus CAN for PLC
- 931M-931W
- E82ZAFFC001
- E82ZAFFC010
- E82ZBR020
- 8601E
- 8601E
- E82ZWBRU
- E82ZAFAC001
- ELM3−030H003
- E94P
- E82ZM113-001
- DDS v2.3
- E82ZBU
- DDS v2.0
- E82ZAFAC010
- E82ZBC
- E94P v2.0
- EPL1020x−EI
- DDS v1.1
- E82ZAFBC001
- E94P v4.0
- DDS Function library 8200 Drive
- 9222E
- EDKRBM220W
- EPZ-10201
- E82EV 8200 vector 0.25kW-2.2kW
- E82EV 8200 vector 15kW-90kW
- E82ZAFBC201
- E82ZZ
- 9371BB
- DDS Function library 9300 Servo
- EPZ-10202
- ERBM470R020W
- ERBDxxxRxxxxRB
- MDSLS Servo spindle motor
- E82EV 8200
- E71ZJ001
- E94P Position Servo safety circuit bypass
- DDS Global Drive PLC Developer Studio
- DDS Global Drive PLC Developer Studio
- DDS Global Drive PLC Developer Studio
- E82ZAFSC010
- EPZ-H214
- 9300 0.37kW-11kW
- EPZ-10203
- 9300 0.37kW-75kW
- E82ZJ001
- EZZ0015
- ERBMxxxRxxxW
- ERBMxxxRxxxW
- ERBDxxxRxxxx
- EXMID1
- EMZ9371BC
- E82ZAFSC100
- E82xV251Kxxxxx
- Global Drive PLC Developer Studio
- Global Drive PLC Developer Studio
- DDS Target 9300 Servo PLC V8.x
- E94P PositionServo with MVOB
- E94P PositionServo with MVOB
- E82ZJ00x
- EVS93xx
- E82ZAFSC
- 8200 vector 15kW-30kW
- Drive PLC Developer Studio 9300 Servo PLC (V8.x)
- Inverter EMC
- SC Series
- SC Series dynamic brake with external resistors
- EZZ0016
- ECSCExxx
- DDS Function library IOSystem
- EMF2141IB
- DDS Function library Drive
- E82ZMFBC001
- EPM-S900
- E82xV453Kxxxxx
- SF Series dynamic brake with internal resistors
- SS108DC
- EVS9330−xx
- IMSS500+ Simple Servo 500 600 i1000
- PMSS1000 Simple Servo
- ELN1−0900H005
- SQF01C
- SCD Series
- SQN01A
- ERBMxxxRxxxx
- DDS Function library PLCToolBox
- SQT01B
- E82ZZ113
- DDS Function library MemDrv
- IM94MV01C
- P94DLL01A
- E82xVxxxKxxxxx
- PM94P01C
- EPM-H510
- ECSCKxxx
- SCF SERIES Remote Keypad
- S94P01B2
- DDS Function library TpDrv
- MC Series Drives
- S94P01G Position Servo
- S94CAN01A
- RS-485 module
- E94AxPExxxx
- MC3000 Series Drives
- EVS9321xK
- EVS9321xK
- SF frequency inverter
- EZZ0017
- E84AVxCx
- MC Series dynamic braking and form C relay
- Drive Server Bus server S7 getting started
- EPM−H310
- ECSCx Axis cold plate
- MC Series remote keypad
- SL
- EVF9321
- EVF9381
- MC1000 Series
- EVS9321xP
- EVS9321xP
- EPM-H312
- MC3000 Series
- MCH Series Drives
- MCH Series Drives
- ECSDExxx
- EVF9381
- EVF9335
- E931Ex
- EPM−H315
- E84DxxxxxxxxxR
- ECSDKxxx
- EMB934x
- EZN3A0022H150N002
- MCH Series Drives Metasys N2
- EVS9321xS
- EVS9321xS
- 931E/K Small Drives Control
- EVF9381
- Range 7800
- SO10 8400 protec
- MCH Series Drives Siemens P1
- ECSDSxxx
- ECSCAxxx
- ECSCMxxx
- ECSCPxxx
- ECSCSxxx
- EZN3A0030H110N001
- EVF9321−xV
- EVF9333−xV
- TCF Series remote keypad
- MCH Series
- ETCxxxxx
- ECSEExxx
- TCF Series
- E84Dxxxxx
- EVF9335−EV
- p500 Controller
- ECSEKxxx
- EZN3A0120H012
- EPM−H410
- EVS93xx FlyingSaw
- EVS9327−xV
- EVS93xx CrossCutter
- EDK71MMXXX−010
- 490 Series Speed controllers tor DC motors
- EZN3B0055H060N003
- ECSESxxx
- EPM−H502
- ERBSxxxRxxxx
- EDK8201BB
- EVF9381−EV
- EDK71MMXXX−020
- E82ZMBR1
- ECS series
- 8200 series
- EVF9330−xV
- EPM−H505
- EZN3B0110H030U
- ERBSxxxxxxxx
- 8210 series
- EPM-H515
- MC−xxx
- EZAELN3
- EZN3B series
- MDxMA Three-phase AC motors
- 8220 HVAC Series
- 8220 HVAC Series
- E82MVxxx_4Bxxx
- 6032 Brake chopper
- ECSEExxx Power supply module
- 8220 frequency inverters
- 8220 frequency inverters
- EPM-H520
- EZN3x0110H030
- EPM−T1XX Modular system
- 11.115 Variable speed pulleys
- EMF2141IB 2141 LON
- ETMD Tmd frequency inverter
- ECSxK series
- EMZ9374IB
- EZN3x0060H054
- EPM-H521
- MC−xxx Card
- g500-H helical gearbox
- E84AVTCExxxx TopLine C
- g500-S Shaft-mounted helical gearbox
- E93ZWLX
- EMZ2221IB
- 8200 Frequency inverters
- 8200 Frequency inverters
- E82ZMBRB
- ECSZZxxxxxx
- EDK82MVXXX
- EDB9300UES
- EZN3x0022H150
- EPM−H605
- ELCAMWIxxx4SNNPSNN (LCU121)
- IPC Industrial PC System
- TML Flux Vector Drive 0.25kW-2.2kW
- 8250 series Brake unit
- E82ZM75134B
- EMF2175IB
- LDECBBF1xxxxxxHx
- GDC with OPC
- 8200 motec frequency inverter 0.25kW-7.5kW
- E82MVxxx 2Bxxx
- EZZ0013
- E82ZM222 Motor filter
- ECSZS000X0B
- EMB9351−E
- E82MV 8200 motec 0.55kW-2.2kW
- Cam Designer Professional
- E82ZWKN2
- ELM3−030H004
- ERBGxxxxxxxx
- EDS4900U-REG
- MGXRK DC motors
- E94P PositionServo Modbus
- MC Series Drives Modbus Communications
- Tmd Series Drives Modbus Communications
- SCF Series Drives Modbus Communications
- TCF Series Drives Modbus Communications
- MCH Series Drives Modbus Communications
- E94AxHExxxx