7 Fieldbus
CANopen quick start
Lenze · Inverter i510 / i550 - Cabinet · Operation Manual · 0.4 EN · 02/2016 97
Example:
Node ID is 10 (0xA) mapping of RPDO1 should be changed
1. Unlock the mapping:
COB ID = 0x200+A. Setting Bit 31
Set 0x1400:1 to 0x8000020A
2. Set the number of mapped subindexes for RPDO1 = 0. This allows the default data mapping of the PDO
to be changed.
Set 0x1600:0 = 0
3. Set the data mapping for the first two bytes of RPDO1 to NetWordIN1:
Set 0x1600:1 = 0x40080110.
4. Set the mapping of byte 3 and of RPDO1 to Network Speed Setpoint [0.1 Hz]
Set 0x1600:2 =0x400B0310.
The second word of RPDO1 will now be the drive’s speed command in 0.1 Hz (i.e. 412=41.2Hz, absolute
value)
5. Set the number of mapped subindexes for RPDO1 = 2
Set 0x1600:0 = 2
6. Set the timeout for RPDO1 monitoring value in milliseconds
Set 0x1400:5 = msec, Fault reaction set in 0x2857:1
7. Lock mapping
Bit31 of 0x1400:1 must be set back to 0. Write the COB ID back to 0x1400:1
COB ID = 0x200+A (If required the COB ID can be set here individually)
Set 0x1400:1 to 0x20A
11. TPDO1 Mapping (used to get status from the drive)
TPDO1 must first have it’s COB ID set and have the PDO unlocked so that it’s mapping may be changed.
To do so you must set bit 31 in 0x1800:1. This will unlock the PDO for editing (makes the PDO invalid).
TPDO1 Default COB ID: 0x180+the node ID (hex)
(Note: Bit 30=Remote Frame OFF should be always set 0x40000180)
Example:
Node ID is 10 (0xA) mapping of TPDO1 should be changed
1. Unlock the mapping:
COB ID = 0x40000180+A. Setting Bit 31
Writing 0xC000018A to 0x1800:1
2. Set the number of mapped subindexes for RPDO1 = 0. This allows the default data mapping of the PDO
to be changed
Set 0x1A00:0 = 0
3. Set the data mapping for the first two bytes of TPDO1 to NetWordOut1:
Set 0x1A00:1 = 0x400A0110
4. Set the mapping of byte 3 of TPDO1 to Network Speed Actual [0.1 Hz]
Set 0x1A00:2 =0x400C0310
5. Set the number of mapped subindexes for TPDO1 = 2
Set 0x1A00:0 = 2
6. By default TPDO will transmit on event (0x1800:2 = 255). The event timer is default 20msec (0x1800:5 =
20) TPDO1 will be transmitted every 20msec.
7. Lock mapping
Bit31 of 0x1800:1 must be set back to 0. Write the COB ID back to 0x1800:1
COB ID = 0x40000180+A (If required the COB ID can be set here individually)
Set 0x1800:1 to 0x4000018A
12. Controlling the inverter:
- With the default IO-setting DI1 need to be asserted (Run/Stop).
- Set Bit 4 of NetWordIN1 to start the drive
To Next Page
Loading...
