13
ENGLISH
Commissioning
Code Possible Settings
IMPORTANT
No. Name Default Selection
RPDO#2 configuration parameters
P450
(3)
RPDO#2 COB ID 769 0 2047 If P413 = 0, 2: Setting will change to
768 + Node ID during power-up or P418
reset.
P451
RPDO#2
enable/disable
0 0 Disable
1 Enable
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
P452
RPDO#2
transmission type
255 0 255 • P452 = 0...240: transfer on every SYNC
received
• P452 = 254, 255: immediate transfer
P454
RPDO#2 event
monitoring timer
0 0 {ms} 65535 P454 = 0: monitoring disabled
P455
RPDO#2 time out
reaction
0 0 Not active Only active when in Network Control
(n.xxx)
1 STOP (see
P111)
2 Quick stop
3 Inhibit
4 Trip fault
F.nF4
P456
(3)
RPDO#2 mapping
(see RPDO
mapping details)
2 0 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040
1 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040 +
vl target velocity 0x6042
• vl target velocity units = signed RPM.
• RPM calculation based on P304 and
P305
2 Drive Control Word + Network
Speed
Network Control Frequency Scaling:
10 = 1.0 Hz
3 Drive Control Word + PID
Setpoint
Signed PID Setpoint: -999 … 31,000
4 Drive Control Word + Torque
Setpoint
Torque Setpoint: 0…400%
p459
RPDO#2 counter 0 255 • Read-only
• Number of received RPDO#2 messages
• Above 255, starts over at 0
(3)
These parameters take effect only after power-up, P418 reset, P451 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”
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