Lenze SMD - Page 21

Lenze 13466185 EDBSW03 v5 19
Commissioning
(1)
These parameters take effect only after power-up, h58 reset, “NMT reset node”, or “NMT reset communication services”
Code Possible Settings
IMPORTANT
No. Name
Lenze
Selection
h53
(1)
Parameter channel
2
(SDO#2 support for
Lenze Systembus)
0 0 Enable: Node ID range (1...63)
with default COB ID for SYNC,
RPDO and TPDO
• h53 = 0, 1: CAN address 1...63; used
for SDO1. 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
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 congurations, 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 configuration 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