User guide

Lenze · 8400 BaseLine C · Reference manual · DMS 1.6 EN · 01/2014 · TD05 211
9 System bus "CAN on board"
9.9 Implemented CANopen objects
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9.9 Implemented CANopen objects
Lenze devices can both be parameterised with Lenze codes and manufacturer-independent "CANo-
pen objects". A completely CANopen-compliant
communication can only be achieved by using CA-
Nopen objects for parameter setting. The CANopen objects described in this chapter are defined in
the CAN specification DS301 V4.02.
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 C367
C368
I-1006 0 Communication cycle period C369
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
C385/1...n
C386/1...n
I-1017 0 Producer heartbeat time C381
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) -