22 Lenze 13466185 EDBSW03 v5
(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
TPDO#2 configuration 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 xed interval for TPDO#2
transmission
• h94 = 0: disables event timer
h96
(1)
TPDO#2 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 prole: Statusword
0x6041
5 402 Device prole: 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
C50 scaling: +/- 16384 = C11
h97
TPDO#2 WORD0
bit mask
65535
0 65535 • COS (change of state) bit mask
applied to WORD0 of TPDO selected
by h96.
• h97 = 65535: activates all bits of
WORD0 for COS triggering
• h87 = 0: disables COS triggering
h99
TPDO#2 status 0 255 • Read-only
• Number of transmitted TPDO#2
messages
• Above 255, starts over at 0
n20
Power up state 0 0 Quick stop Selects controller power up state when
C01 = 3 (CANopen control)
1 Inhibit
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