21
Commissioning
Code Possible Settings
IMPORTANT
No. Name Lenze Selection
h83
(1)
TPDO#1 inhibit time 50 0 {0.1 ms} 65535 Sets minimum time between TPDO#1
transmissions (h83 = 50 = 5.0 ms)
h84
TPDO#1 event timer 0 0 {ms} 65535 • Sets the fixed interval for TPDO#1
transmission
• h84 = 0: disables event timer
h86
(1)
TPDO#1 mapping
(see TPDO mapping
details)
0 0 C0150 + C50 signed C50 scaling: + 50 = + 1.0 Hz
1 C0150 + C50 unsigned C50 scaling: 10 = 1.0 Hz
2 Controller status in C0135 format +
frequency setpoint signed
Can be used to control other controllers
(see example in section 4.5)
3 Controller status in C0135 format +
frequency setpoint unsigned
4 402 Device profile: Statusword
0x6041
5 402 Device profile: Statusword
0x6041 + vl control effort 0x6044
• vl control effort units = signed RPM
• RPM calculation based on C87 and C89
6 C0150 + C50 signed and scaled +
digital input + analog input
C50 scaling: +/- 16384 = C11
h87
TPDO#1 WORD0
bit mask
65535 0 65535
• COS (change of state) bit mask
applied to WORD0 of TPDO selected
by h86.
• h87 = 65535: activates all bits of
WORD0 for COS triggering
• h87 = 0: disables COS triggering
h89
TPDO#1 status 0 255 • Read-only
• Number of transmitted TPDO#1
messages
• Above 255, starts over at 0
TPDO#2 conguration parameters
h90
(1)
TPDO#2 COB ID 641 0 2047 If h53 = 0, 2: Setting will change to
640 + Node ID during power-up or h58
reset.
h91
(1)
TPDO#2 enable/
disable
0 0 Disable
1 Enable (no RTR)
2 Enable (with RTR) Enable individual polling of TPDO#2
h92
TPDO#2
transmission type
255 0 255 • h92 = 0...240: Transmit TPDO#2 after
every n
th
SYNC received + Event +
RTR (if enabled)
• h92 = 253: Event + RTR (if enabled)
• h92 = 254: COS triggered (WORD0 of
TPDO#2) + Event + RTR (if enabled)
• h92 = 255: Event + RTR (if enabled)
h93
(1)
TPDO#2 inhibit time 50 0 {0.1 ms} 65535 Sets minimum time between TPDO#2
transmissions (h93 = 50 = 5.0 ms)
h94
TPDO#2 event timer 0 0 {ms} 65535 • Sets the fixed interval for TPDO#2
transmission
• h94 = 0: disables event timer
(1)
These parameters take effect only after power-up, h58 reset, “NMT reset node”, or “NMT reset communication services”
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