CANopen COMPAX parameter
COMPAX CANopen
68
8 CANopen COMPAX parameter
No. Meaning Minimum
value
Default
value
Maximum
value
When
valid
P190
Sets "Device profile DSP 402" operating mode ="0": "DSP402 " operating mode inactive
="22": "DSP402 " operating mode active
Power on
P191 Bus time-out
="0": no response, except error message E73, during a time-out
="1": stop with E73 and shut down during activation of holding brake
VP
P193 Pop-up messages
="1": autom. Error message
="2": autom. "position reached" - message
="4": autom. comparator switch points report
immedia-
tely
P194 Address of unit 0 99 99 VP
P195 Baud rate. Possible settings (in baud):
20 000 •
••
• 50 000 •
••
• 100 000 •
••
• 125 000 •
••
• 250 000 •
••
• 500 000 •
••
• 800 000 •
••
• 1 000 000
0 9600
1 000 000
Power on
P196 Protocol
Bit 0 = 0 pop-up messages are reported with EMCY
Bit 0 = 1 Pop-up messages are displayed in the status word
Bit 1 = 0 boot-up object with 0 data byte
Bit 1 = 1 boot-up object structure as EMCY; data=0
Bit 2 = 0 boot-up object only transmitted after Power on
Bit 2 = 1 boot-up object also transmitted after a START message
Power on
P135
Index and subindex of 2nd object on the TPDO1 after power on
*
. 0 0 16777215
Power on
P136
Index and subindex of 3rd object on the TPDO1 after power on*.
0 0 16777215
Power on
P137
Index and subindex of 1rd object on the TPDO2 after power on*.
0 0 16777215
Power on
P138
Index and subindex of 2rd object on the TPDO2 after power on*.
0 0 16777215
Power on
P139
Index and subindex of 2nd object on the RPDO1 after power on*.
0 0 16777215
Power on
P140
Index and subindex of 3nd object on the RPDO1 after power on*.
0 0 16777215
Power on
P141
Index and subindex of 1nd object on the RPDO2 after power on*.
0 0 16777215
Power on
P142
Index and subindex of 2nd object on the RPDO2 after power on*.
0 0 16777215
Power on
P203
Assigning status S16 and S17 to CPX_ZSW Bit 0 ="0" CPX_ZSW (standard
assignment)
Bit 0 ="1" S16, S17 to CPX_ZSW
immedia-
tely
P221
Standard functions of the digital inputs accessible from the CONTROLWORD
object. Physical inputs freely available.
Is written/read by object INPUT_MASK (LSB).
0 0 255
immedia-
tely
P222
Standard functions of the digital inputs E9...E16 accessible from the
CONTROLWORD object. Physical inputs freely available.
Is written/read by object INPUT_MASK (MSB).
0 0 255
immedia-
tely
P223
Outputs A1...A8 are accessible from object OUTPUT_WORD.
Is written/read by object OUTPUT_MASK (LSB).
0 0 255
immedia-
tely
P224
Outputs A9...A16 are accessible from object OUTPUT_WORD.
Is written/read by object OUTPUT_MASK (MSB).
0 0 255
immedia-
tely
9 COMPAX error message of the CAN-Bus
No. Cause Remedy / Causes
Acknowl
edge
with
No
power to
drive
E73 Node monitoring error
The error response is influenced with
P191.
No longer connection with master
Monitoring time and/or lifetime factor not set correctly
1
no
2
1
Start_Remote_Node indication.
COMPAX automatically goes into pre-operational state due to the emergence of a node monitoring error.
2
Depends on P191.
*
value to be entered=index*256+subindex
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