19
Commissioning
Code Possible Settings
IMPORTANT
No. Name Lenze Selection
h58
Reset CAN node 0 0 No action On transition from 0 to 1, re-initializes
CAN controller and activates changes
made to parameters marked with
(1)
1 Reset CAN communication
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
h59
CANopen status 0 Not initialized • Read-only
• Note: RPDOs and TPDOs are only
active in operational state (h59 = 5)
1 Initializing
2 Stopped
3 Pre-operational
4 reserved
5 Operational
RPDO#1 conguration parameters
h60
(1)
RPDO#1 COB ID 513 0 2047 If h53 = 0, 2: Setting will change to
512 + Node ID during power-up or h58
reset.
h61
(1)
RPDO#1 enable/
disable
1 0 Disable
1 Enable
h62
RPDO#1
transmission type
255 0 255 • h62 = 0...240: transfer on every SYNC
received.
• h62 = 254, 255: immediate transfer
h64
RPDO#1 event
monitoring timer
0 0 {ms} 65535 h64 = 0: monitoring disabled
h65
RPDO#1 time out
reaction
0 0 Not active Only active when C01 = 3
1 Inhibit
2 Quick stop
3 Trip fault
FC3
h66
(1)
RPDO#1 mapping
(see RPDO mapping
details)
0 0 C0135 control word + C46 signed C46 scaling: + 50 = + 1.0 Hz
1 C0135 control word + C46
unsigned
C46 scaling: 10 = 1.0 Hz
2 402 Drives and Motion Control:
PDO Controlword 0x6040
3 402 Drives and Motion Control:
PDO Controlword 0x6040 +
vl target velocity 0x6042
• vl target velocity units = signed RPM
• RPM calculation based on C87 and
C89
4 C0135 Controlword +
C46 signed and scaled +
Digital output + analog output
C46 scaling: +/- 16384 = C11
h69
RPDO#1 status 0 255 • Read-only
• Number of received RPDO#1
messages
• Above 255, starts over at 0
(1)
These parameters take effect only after power-up, h58 reset, “NMT reset node”, or “NMT reset communication services”
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