Lenze AC Tech SMVector - CANopen Mapping Details

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ENGLISH
Commissioning
5.2 CANopen mapping details
The tables in the following sections may use descriptions from the CANopen DSP 402 standard. This
terminology should not be interpreted as referring to drive hardware.
5.2.1 RPDO mapping details (P446/P456)
WORD0 - DSP402 control word 0x6040
Bit P446 / P456 setting = 0
WORD0 - DSP402 control word 0x6040
Bit P446 / P456 setting = 1
0
Output Switch
(6)
0 = switch OFF (i) 1 = switch ON (e)
0
Output Switch
(6)
0 = switch OFF (i) 1 = switch ON (e)
1
Voltage Enable
(6)
0 = Disable Voltage (i) 1 = Enable Voltage (e)
1
Voltage Enable
(6)
0 = Disable Voltage (i) 1 = Enable Voltage (e)
2
Quick stop
0 = Quick stop active 1 = Quick stop not active
2
Quick stop
0 = Quick stop active 1 = Quick stop not active
3
Controller inhibit
(6)
0 = Controller inhibit (i) 1 = No controller inhibit (e)
3
Controller inhibit
(6)
0 = Controller inhibit (i) 1 = No controller inhibit (e)
4 Reserved 4 Reserved
5 Reserved 5 Reserved
6 Reserved 6 Reserved
7 Fault Reset: on transition from 0 to 1 7 Fault Reset: on transition from 0 to 1
8
Motion Inhibit
(6)
0 = execute motion (e) 1 = halt (i)
8
Motion Inhibit
(6)
0 = execute motion (e) 1 = halt (i)
9 Reserved 9 Reserved
10 Reserved 10 Reserved
11
Direction of rotation
0 = CW (forward) 1 = CCW (reverse)
11
Direction of rotation
0 = CW (forward) 1 = CCW (reverse)
12
Control
0 = Local Control 1 = Network Control
12
Control
0 = Local Control 1 = Network Control
13
Speed Reference
0 = Local Reference 1 = Network Reference
13
Speed Reference
0 = Local Reference 1 = Network Reference
14
DC brake
0 = DC brake not active 1 = DC brake active
14
DC brake
0 = DC brake not active 1 = DC brake active
15 Reserved 15 Reserved
WORD1
Signed vl target velocity 0x6042 (RPM)
• RPM calculation based on P304 and P305
• Example 1: P304 = 60Hz; P305 = 1750 RPM
request setpoint forward (CW) at 25.0 HZ =
25.0 x 1750/60 = 729 = 0x02D9
• Example 2: P304 = 50Hz; P305 = 1390 RPM
request setpoint reverse (CCW) at 44.5 HZ =
-(44.5 x 1390/50) = -1237 = 0xFB2B
Note: sign of the target velocity takes priority over
bit 11 in word 0!
(6)
Action of indicated bit is implemented as inhibit. These bits inhibit the drive when in the state indicated with (i) and enable the drive in the state indicated with (e).