18
Commissioning
Code Possible Settings
IMPORTANT
No. Name Lenze Selection
h49
CAN controller
status value (8-bit
value)
0 Receive/transmit error warning flag
(96 or more errors)
• Read-only
• CAN warnings and errors
1 Receive error warning flag (96 or
more receive errors)
2 Transmit error warning flag (96 or
more transmit errors)
3 Receive error passive flag (128 or
more receive errors)
4 Transmit error passive flag (128 or
more transmit errors)
5 Bus-off error flag
6 Receive buffer 0 overflow flag
7 Receive buffer 1 overflow flag
h50
(1)
CAN address (Node
ID)
1 1 127 If h53 = 0, 1: maximum setting = 63
h51
(1)
CAN baud rate 5 0 10 kbps (max distance = 5000m)
1 20 kbps (max distance = 2500m)
2 50 kbps (max distance = 1000m)
3 125 kbps (max distance = 500m)
4 250 kbps (max distance = 250m)
5 500 kbps (max distance = 100m)
h52
(1)
System bus
participant
0 0 Slave • h52 = 1: Controller enters operational
state automatically
• h52 = 2: Controller sends “NMT start
all nodes” after boot-up time (h55) and
enters operational state
1 Slave with autostart enabled
0x1F80 NMT bootup - bit 2
2 System bus master (not NMT
master)
h53
(1)
Parameter channel 2
(SDO#2)
0 0 Enable: Node ID range (1...63)
with default COB ID for SYNC,
RPDO, and TPDO
• h53 = 0, 1: CAN address 1...63;
64...127 used for SDO2
• SDO#1 COB ID = 1536 + Node ID
• SDO#2 COB ID = 1600 + Node ID (if
enabled)
1 Enable: Node ID range (1...63)
with programmable COB ID using
h54, h60, h70, h80, h90
2 Disable: Node ID range (1...127)
with default COB ID for SYNC,
RPDO, and TPDO
3 Disable: Node ID range (1...127)
with programmable COB ID using
h54, h60, h70, h80, h90
h54
(1)
SYNC COB ID 128 0 2047 Note: Controller does not generate
SYNC object
h55
(1)
Boot up time 3000 0 {ms} 65535 Controller sends “NMT start all nodes”
message after this delay (active only
when h52 = 2)
h56
Heartbeat time 2000 0 {ms} 65535 • Producer heartbeat time
• h56 = 0 disables heartbeat transmission
(1)
These parameters take effect only after power-up, h58 reset, “NMT reset node”, or “NMT reset communication services”
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