SMVector
15
ENGLISH
Commissioning
Code Possible Settings
IMPORTANT
No. Name Default Selection
TPDO#2 configuration parameters
P470
(5)
TPDO#2 COB ID 641 0 2047 If P413 = 0, 2: Setting will change to
640 + Node ID during power-up or P418
reset.
P471
TPDO#2
enable/disable
0 0 Disable
1 Enable (no RTR)
2 Enable (with RTR)
Enable individual polling of TPDO#2
P472
TPDO#2
transmission type
255 0 255 • P472 = 0...240: Transmit TPDO#2 after
every n
th
SYNC received + Event +
RTR (if enabled)
• P472 = 253: Event + RTR (if enabled)
• P472 = 254: COS triggered (WORD0 of
TPDO#2) + Event + RTR (if enabled)
• P472 = 255: Event + RTR (if enabled)
P473
(5)
TPDO#2 inhibit
time
0.0 0.0 {0.1 ms} 65535 Sets minimum time between TPDO#2
transmissions.
P474
TPDO#2 event
timer
0 0 {ms} 65535 • Sets the fixed interval for TPDO#2
transmission
• P474 = 0: disables event timer
P476
(5)
TPDO#2 mapping
(see TPDO
mapping details)
2 0 DSP402 (Drives & Motion Control):
Status Word 0x6041
1 DSP402 (Drives & Motion Control):
Status Word 0x6041 +
vl target velocity 0x6044
• vl control effort units = signed RPM.
• RPM calculation based on P304 and
P305
2 Drive Status Word + Actual
Frequency + I/O
Actual Frequency Scaling: 10 = 1.0 Hz
3 Drive Status Word + Actual
Frequency + PID Setpoint
Signed PID Setpoint: -999 … 31,000
4 Drive Status Word + Actual
Frequency + Torque Setpoint
Torque Setpoint: 0…400%
5 Status Word matches the drives
Control Word
Setting used to control another
Drive. See Appendix A1 - Example 1.
P477
TPDO#2 WORD0
bit mask
65535 0 65535 • COS (change of state) bit mask applied
to WORD0 of TPDO selected by P476.
• P477 = 65535: activates all bits of
WORD0 for COS triggering
• P477 = 0: disables COS triggering
• P472 = 254
P479
TPDO#2 counter 0 255 • Read-only
• Number of transmitted TPDO#2
messages
• Above 255, starts over at 0
(5)
These parameters take effect only after power-up, P418 reset, P471 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”
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