Emotron VS10 - Page 234

234 01-6203-01R3, CG Drives & Automation
RPDO1 mapping
The RPDO1 is used to control the inverter.
Changing the identifier (COB-ID) and the PDO mapping only allows the following
procedure:
1. Set RPDO1 to "invalid": Set bit 31 in the identifier 0x1400:001 (P540.01) to "1".
2. Set RPDO1 mapping to "invalid": 0x1600:000 = set 0.
3. Map NetWordIN1 data word0x4008:001 (P590.01) to RPDO1: 0x1600:001 = set
0x40080110.
4. MapNetwork setpoint frequency (0.1) 0x400B:003 (P592.03) to RPDO1: 0x1600:002 =
set 0x400B0310.
5. Set RPDO1 mapping to "valid" again: 0x1600:000 = set 2 (number of mapped
parameters).
6. Optional: Set time-out time for monitoring the data reception in 0x1400:005
(P540.05) in [ms].
• Default setting: 100 ms
7. Change identifier for RPDO1 (optional) and set RPDO1 to "valid" again: Write the new
identifier into 0x1400:001 (P540.01) and simultaneously set bit 31 to "0".
• Default setting: 0x200 + node address (hex)
• Example: Node address = 10 (0xA) and basic identifier = default setting:
Identifier to be written into 0x1400:001 (P540.01) = 0x200 + 0xA = 0x20A (0b0011
0000 1010)
Function assignment of the NetWordIN1 data word (byte 1+2 of the RPDO1)
Bit
Default setting
For details and configuration, see
0
Not active (reserve)
0x400E:001 (P505.01)
1
Not active (reserve)
0x400E:002 (P505.02)
2 Activate quick stop 0x400E:003 (P505.03)
3
Not active (reserve)
0x400E:004 (P505.04)
4
Run forward (CW)
0x400E:005 (P505.05)
5
Activate preset (bit 0)
0x400E:006 (P505.06)
6
Activate preset (bit 1)
0x400E:007 (P505.07)
7 Reset error 0x400E:008 (P505.08)
8
Not active (reserve)
0x400E:009 (P505.09)
9
Activate DC braking
0x400E:010 (P505.10)
10
Not active (reserve)
0x400E:011 (P505.11)
11
Not active (reserve)
0x400E:012 (P505.12)
12 Invert rotation 0x400E:013 (P505.13)
13
Not active (reserve)
0x400E:014 (P505.14)
14
Not active (reserve)
0x400E:015 (P505.15)
15
Not active (reserve)
0x400E:016 (P505.16)
Specifying the frequency setpoint (byte 3+4 of the RPDO1)
• The specification is made unsigned (independent of the direction of rotation) as
integer in the resolution [0.1 Hz].
• The direction of rotation is defined in the default setting via bit 12 of the NetWordIN1
data word.
• Example: 456 ≡ 45.6 Hz