Emotron VS10 - Page 235

TPDO1 mapping
The TPDO1 is used for the output of status information and the actual frequency value.
Changing the identifier (COB-ID) and the PDO mapping only allows the following
procedure:
1. Set TPDO1 to "invalid": Set bit 31 in the identifier 0x1800:001 (P550.01) to "1".
2. Set TPDO1 mapping to "invalid": 0x1A00:000 = set 0.
3. Map NetWordOUT1 data word 0x400A:001 (P591.01)to TPDO1: 0x1A00:001 = set
0x400A0110.
4. MapFrequency (0.1) 0x400B:003 (P592.03) to TPDO1:
5. 0x1A00:002 = set 0x400C0310.
6. Set TPDO1 mapping to "valid" again: 0x1A00:000 = set 2 (number of mapped
parameters).
7. Optional: Set Transmission type in 0x1800:002 (P550.02) and Event timer in
0x1800:005 (P550.05).
8. Default setting: Cyclic transmission every 20 ms.
9. Change identifier for TPDO1 (optional) and set TPDO1 to "valid" again: Write the new
identifier into 0x1800:001 (P550.01) and simultaneously set bit 31 to "0".
10. Default setting: 0x40000180 + node address (hex)
11. Example: Node address = 10 (0xA) and TPDO1 basic identifier = default setting:
12. Identifier to be written into 0x1800:001 (P550.01) = 0x40000180 + 0xA = 0x4000018A
(0b0100 0000 0000 0000 0000 0001 1000 1010)
Status assignment of the NetWordOUT1 data word (byte 1+2 of the TPDO1)
Bit
Default setting
For details and configuration, see
0
Ready for operation
0x2634:010 (P420.10)
1
Not connected
0x2634:011 (P420.11)
2 Operation enabled 0x2634:012 (P420.12)
3
Error active
0x2634:013 (P420.13)
4
Not connected
0x2634:014 (P420.14)
5
Quick stop active
0x2634:015 (P420.15)
6
Running
0x2634:016 (P420.16)
7 Device warning active 0x2634:017 (P420.17)
8
Not connected
0x2634:018 (P420.18)
9
Not connected
0x2634:019 (P420.19)
10
Setpoint speed reached
0x2634:020 (P420.20)
11
Current limit reached
0x2634:021 (P420.21)
12 Actual speed = 0 0x2634:022 (P420.22)
13
Rotational direction reversed
0x2634:023 (P420.23)
14
Release holding brake
0x2634:024 (P420.24)
15
Safe torque off (STO) active
0x2634:025 (P420.25)
Output of the actual frequency value (byte 3+4 of the TPDO1)
• The output is made unsigned (independent of the direction of rotation) as integer in
the resolution [0.1 Hz].
• An active reversal is displayed via bit 13 of the NetWordOUT1 data word.
• Example: 456 ≡ 45.6 Hz