Lenze SMD Series - Page 22

20
Commissioning
Code Possible Settings
IMPORTANT
No. Name Lenze Selection
RPDO#2 conguration parameters
h70
(1)
RPDO#2 COB ID 769 0 2047 If h53 = 0, 2: Setting will change to
768 + Node ID during power-up or h58
reset.
h71
(1)
RPDO#2 enable/
disable
0 0 Disable
1 Enable
h72
RPDO#2
transmission type
255 0 255 • h72 = 0...240: transfer on every SYNC
received
• h72 = 254, 255: immediate transfer
h74
RPDO#2 event
monitoring timer
0 0 {ms} 65535 h74 = 0: monitoring disabled
h75
RPDO#2 time out
reaction
0 0 Not active Only active when C01 = 3
1 Inhibit
2 Quick stop
3 Trip fault
FC3
h76
(1)
RPDO#2 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
h79
RPDO#2 status 0 255 • Read-only
• Number of received RPDO#2
messages
• Above 255, starts over at 0
TPDO#1 conguration parameters
h80
(1)
TPDO#1 COB ID 385 0 2047 If h53 = 0, 2: Setting will change to
384 + Node ID during power-up or h58
reset.
h81
(1)
TPDO#1 enable/
disable
1 0 Disable
1 Enable (no RTR)
2 Enable (with RTR) Enable individual polling of TPDO#1
h82
TPDO#1
transmission type
255 0 255 • h82 = 0...240: Transmit TPDO#1 after
every n
th
SYNC received + Event +
RTR (if enabled)
• h82 = 253: Event + RTR (if enabled)
• h82 = 254: COS triggered (WORD0 of
TPDO#1) + Event + RTR (if enabled)
• h82 = 255: Event + RTR (if enabled)
(1)
These parameters take effect only after power-up, h58 reset, “NMT reset node”, or “NMT reset communication services”