Lenze 9400 User Manual Page 316
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9 "CAN on board" system bus
9.7 Parameter data transfer
316
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
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9.7.1 Identifiers of the parameter data objects
The identifiers for the parameter data objects SDO1 ... SDO10 in the Lenze setting result from the
basic identifier and the node address set in C00350
.
Identifier (COB-ID) = basic identifier + node address (node ID)
• The basic identifiers of the SDOs are preset in the Lenze setting according to the "Predefined
Connection Set" of DS301 V4.02.
9.7.2 User data
Structure of the user data of the parameter data telegram
The following subchapters provide detailed information on user data.
Parameter data object Direction Basic identifier
from device to device dec hex
SDO1
(Parameter data channel 1)
1408 580
1536 600
SDO2 ... 10
(Parameter data channel 2 ... 10)
deactivated
Node guarding, heartbeat 1792 700
Boot-up 1792 700
Note!
Please observe that the parameter data channels 2 ... 10 are deactivated in the Lenze
setting.
The procedure for activating these parameter data channels is explained in the
description of parameters C00372
and C00373 and the description for the implemented
CAN object I-1201
. Example ( 352)
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
LOW byte HIGH byte LOW byte HIGH byte
Note!
User data are displayed in the Motorola format.
Parameter data telegram examples
( 322)
- Reference manual 1
- E94AxHExxxx 1
- Contents 10
- 1 About this documentation 12
- 2Introduction 15
- 3 Commissioning 22
- %LW 37
- %LW 37
- RAM Memory module MM 87
- Cam dataCam data 87
- Cam application 87
- Controller inhibit 97
- 4 Drive interface 100
- Danger! 101
- LS_DriveInterface 110
- 5 Motor interface 115
- Actual value 191
- Set value 191
- LS_MotorInterface 231
- LS_Feedback 237
- 6 Encoder evaluation 238
- Feed constant ( 36) 245
- 66,BGZ'DWDZRUGB 254
- 66,BGZ'DWDZRUGB 254
- 66,BGZ'DWDZRUGB 254
- LS_EncoderX8 260
- 7Braking operation 266
- 8 I/O terminals 273
- AIN1_dnIn_n 276
- AIN1_bCurrentError 276
- AIN2_dnIn_n 276
- AOUT1_dnOut_n 278
- AOUT2_dnOut_n 278
- DIGIN_bStateBusIn 284
- DIGOUT_bStateBusOut 284
- LS_TouchProbex 285
- L_SdTouchProbe 285
- LS_TouchProbeMotor 289
- LS_TouchProbeLoad 289
- 9.1 General information 293
- 9.1.2 Supported protocols 294
- 9.1.3 Communication time 295
- DIP switch 64 32 16 8 4 2 1 296
- Value 0 0 296
- 16 0 4 2 1 296
- 9.2.2 Setting the baud rate 297
- CAN-RUN CAN-ERR 298
- 9.4.1 Identifier 299
- 9.4.2 User data 301
- 9.5.1 State transitions 303
- &2%,' 304
- Parameter Info Lenze setting 305
- C00352 CAN slave/master Slave 305
- 9.6 Process data transfer 306
- 9.6.2 Transmission type 308
- Value Unit 309
- SYNC SYNC 310
- 9.6.5.1 Parameter setting 311
- ( 364) 312
- 9.7 Parameter data transfer 315
- 9.7.2 User data 316
- 9.7.2.1 Command 317
- 9.7.2.3 Data 1 ... data 4 319
- 9.7.2.4 Error messages 319
- 0x41 0x00 0x04 0x06 320
- Meaning of the error codes 321
- 9.7.3.1 Reading parameters 322
- 9.7.3.2 Writing parameters 323
- 9.8 Diagnostics 327
- 9.9 Monitoring 328
- 9.9.1 Node guarding protocol 328
- 9.9.1.1 Telegram structure 329
- 9.9.1.2 Parameter setting 330
- 9.9.1.3 Commissioning example 332
- ( 329) 333
- 9.9.2 Heartbeat protocol 334
- 9.9.2.1 Telegram structure 335
- 9.9.2.2 Parameter setting 335
- 9.9.2.3 Commissioning example 337
- 9.9.3 Emergency telegram 338
- LS_SyncInput 364
- Data type 365
- 10 Safety engineering 366
- LS_SafetyModuleInterface 368
- 11 Basic drive functions 372
- Controller not ready 374
- STP_dnState 385
- STP_bStopActive 385
- Activate stopping 385
- (internal status machine) 385
- LS_Quickstop 388
- Actual speed 393
- LS_ManualJog 396
- LS_ManualJogOpenLoop 414
- LS_Homing 418
- LS_Positioner 475
- LS_PositionFollower 486
- LS_SpeedFollower 492
- LS_TorqueFollower 498
- LS_Limiter 502
- GIRFRDI1DI2DI3DI4DI5DI6DI7DI8 511
- LS_DigitalInput 511
- LS_Brake 519
- GO24ODO1DO2DO3DO4 523
- C02586: Starting torque 1 532
- C02587 532
- : Starting torque 2 532
- C02588 532
- : Source of starting torque 532
- C02588 = 1 533
- Speed controller 533
- BRK_dnTorqueAdd_n 534
- C2605/1 C2605/2 550
- BRK_bReleaseBrakeOut 551
- 24VDCDigital I/O 551
- How to update the cam data: 557
- /6B&DP,QWHUIDFH 558
- 11.13.3.2 Online change mode 562
- How to change a cam: 566
- Product number 567
- LS_PolePositionIdentification 571
- 12 Oscilloscope 579
- How to change a selection: 583
- How to delete a selection: 583
- 13.1 LED status displays 598
- DRIVE READY DRIVE ERROR 599
- 13.4 Logbook 603
- 13.4.1 Functional description 604
- Cause Remedy 609
- Bit 31 1625262829 015 610
- 0001111011 613
- 0000000000001111 613
- 13.7.2 Reset error message 614
- 13.7.3 Short overview (A-Z) 615
- 184: Basic drive functions 53 712
- 14 Parameter reference 713
- )(('%$& 952
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