Lenze · 8400 HighLine · Reference manual · DMS 12.0 EN · 06/2017 · TD23 753
11 System bus "CAN on board"
11.11 CANopen objects implemented
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11.11 CANopen objects implemented
Lenze devices can be parameterised with both Lenze codes and manufacturer-independent
"CANopen objects". Fully CANopen-compliant
communication can only be achieved by exclusively
using CANopen objects for the parameterisation. The CANopen objects described in this chapter are
defined in the DS301 V4.02 CAN specification.
Many CANopen objects can be mapped on Lenze codes. In the following table, the corresponding
Lenze codes are listed in the column "Relationship to Lenze codes".
Overview of CANopen indices and their relationship to Lenze codes
Note!
Some of the terms used here derive from the CANopen protocol.
CANopen object Relationship to Lenze
code
Index Subindex Name
I-1000
0 Device type -
I-1001
0 Error register -
I-1003
Predefined error field
0 Number of errors -
1 ... 10 Standard error field -
I-1005
0 COB-ID SYNC message C00367
C00368
I-1006 0 Communication cycle period C00369
I-1014 0COB-ID EMCY -
I-1016
Consumer heartbeat time
0 Highest subindex supported -
1 ... n Consumer heartbeat time
• "BaseLine C" version: n = 1
• "StateLine C" version: n = 7
• "HighLine C" version: n = 15
• "TopLine C" version: n = 15
C00385/1...n
C00386/1...n
I-1017 0 Producer heartbeat time C00381
I-1018 Identity object
0 Highest subindex supported -
1Vendor ID -
2 Product code -
3 Revision number -
4 Serial number -
I-1200
SDO1 server parameter
0 Highest subindex supported -
1 COB-ID client −> server (rx) -
2COB-ID server −> client (tx) -
I-1201
SDO2 server parameter
0 Highest subindex supported -
1 COB-ID client −> server (rx) -
2COB-ID server −> client (tx) -
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