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9 "CAN on board" system bus

9.4 Structure of the CAN data telegram

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Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

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Node address (node ID)

Every node of the system bus network must be assigned to a node address (also called node ID)

within the valid address range (1 ... 127) for unambiguous identification.

• Assigning a node address more than once within a network is impermissible.

• The own node address can be configured via the DIP switch of the memory module (exception:

MM1xx memory module) or via code C00350

. Setting the node address ( 296)

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.

• The basic identifiers of the PDOs are preset in the Lenze setting according to the "Predefined

Connection Set" of DS301 V4.02 and can be changed via parameters/indexes, if required.

Identifiers of the process data objects

( 307)

Object Direction Basic identifier

from device to device dec hex

Network management (NMT) 0 0

Sync 128 80

Emergency  128 80

PDO1

(Process data channel 1)

TPDO1

 384 180

RPDO1

 512 200

PDO2

(Process data channel 2)

TPDO2

 640 280

RPDO2

 768 300

PDO3

(Process data channel 3)

TPDO3

 896 380

RPDO3

 1024 400

PDO4

(Process data channel 4)

TPDO4

 1152 480

RPDO4

 1280 500

SDO1

(Basic SDO channel)

 1408 580

 1536 600

SDO2 ... SDO10

(Parameter data channel 2 ... 10)

 1472 5C0

 1600 640

Node guarding, heartbeat  1792 700

1 2 ... 295 296 297 298 299 300 301 302 303 304 305 ... 953 954

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