CANopen
6
Parameter setting
6-54
L
BA2175 EN 2.0
Index 1800
h
, subindex 2
Code L-C1874 and L-C2374, subcode 1
Index 1801
h
, subindex 2
=
Code L-C1874 and L-C2374, subcode 2
Index 1802
h
, subindex 2
Code L-C1874 and L-C2374, subcode 3
If, for instance, index 1802
h
is read, the response value comes from code L-C1874 / L-C2374,
subcode 3. If a new value is written to index 1801
h
also code L-C1874, subcode 2 will be overwritten
with this value.
Exception:
If value ” 254” is written via CANopen index 1800
h
, 1801
h
or 1802
h
the sync rate under l-C1874 and
L-C2374 of the corresponding subcode will be set zero. In addition the Tx modue under code
L-C1875 / L-C2375 of the corresponding subcode will be set to 2 (event control or cyclic control).
If ” 254” is read via index 1800
h
, 1801
h
or 1802
h
, the settings under codes L-C1874 and L-C1875 or
L-C2374 and L-C2375, subcode 1, 2 or 3 apply.
6.5.2.17
L-C1875/ L-C2375: Tx mode CAN-OUT1 ... CAN-OUT3
This code contains a selection which indicates when CAN-OUT1 .. CAN-OUT3 PDO are to be sent.
The selection can be made for every output PDO by subdivision into subcodes.
Code
Index
Possible settings
Code
Subcode
Index
Lenze
Selection
Data type
L-C1875
/1 CAN-OUT1
/2* CAN OUT2
58AC
h
= 22700
d
/1: 0
/2: 1
/3: 1
0
[1]
3 FIX32
L-C2375
/2* CAN-OUT2
/3* CAN-OUT3
56B8
h
= 22200
d
/1: 0
/2: 0
/3: 0
FIX32
*) not effective when using 82XX, 8200 vector and 93XX controllers
•
Value = 0
– Output PDOs are sent when a sync telegram is received.
– Only sync telegrams with the identifier set under L-C1867 / L-C2367 count as received
telegrams. L-C1874 / L-C2374 can also be used for setting a number of sync telegrams (n =
1 ... 240) after which output PDO are to be sent.
•
Value = 1
– Output PDOs are not sent.
– This selection deactivates the sending of CAN-OUT1..CAN-OUT3.
This deactivation should be used for 82XX, 8200 vector and 9300 controllers which can
exchange a max. of 4 words of control and status information via the AIF. Use just one input
and output PDO because every PDO contains 4 information words (default setting).
Thus unnecessary CAN load can be avoided.
•
Value = 2
– The output PDO is either event-controlled or cyclically sent if this value is entered in one of
the three available subcodes.
– The output PDO will be cyclically sent if a cycle time is input for the same CAN-OUT1..3
under code L-C1856 or L-C2356 (depending on the drive). If the cycle time is zero, it will be
sent when an event occurs, i.e. bit change in CAN-OUT object.
•
Value = 3
– The output PDO is sent either event-controlled or cyclically , which means that the object is
sent according to the time set under L-C1856 and L-C2356.
– The object is also sent when one or several bits in the CAN-OUT object change.
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