Lenze SMVector Reference Manual page 15

Code
No. Name
P 40 ) RPDO#1 COB ID
P 4 RPDO#1
enable/disable
P 2 RPDO#1
transmission type
P 4 RPDO#1 event
monitoring timer
P 4 RPDO#1 time out
reaction
P 4 ) RPDO#1 mapping
(see RPDO
mapping details)
P 49 RPDO#1 counter
P 50 RPDO#2 COB ID
( )
P 5 RPDO#2
enable/disable
(2): These parameters take effect only after power-up, P418 reset, P441 transition from disable to enable, "NMT reset node", or "NMT reset communication services"
Possible Settings
Default Selection
RPDO#1 Configuration Parameters
513 0
NOTE
COB ID can only be changed when P441 = 0 (Disabled)
1 0 Disable
1 Enable
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
255 0
0 0 {ms}
0 0 Not active
1 STOP (see P
2 Quick stop
3 Inhibit
4 Trip fault
2 0 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040
1 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040 +
vl target velocity 0x6042
2 Drive Control Word + Network
Speed
3 Drive Control Word + PID Setpoint Signed PID Setpoint: -999 ... 31,000
4 Drive Control Word + Torque
Setpoint
0
RPDO#2 Configuration Parameters
769 0
NOTE
COB ID can only be changed when P451 = 0 (Disabled)
0 0 Disable
1 Enable
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
Commissioning
2047 If P413 = 0, 2: Setting will change to 512 +
Node ID during power-up or P418 reset.
255 • P442 = 0...240: transfer on every SYNC
received.
• P442 = 254, 255: immediate transfer
65535 P444 = 0: monitoring disabled
Only active when in Network Control
( xxx)
)
• vl target velocity units = signed RPM.
• RPM calculation based on P304 and P305
Network Control Frequency Scaling:
10 = 1.0 Hz
Torque Setpoint: 0...400%
255 • Read-only
• Number of received RPDO#1 messages
• Above 255, starts over at 0
2047 If P413 = 0, 2: Setting will change to 768 +
Node ID during power-up or P418 reset.
13
IMPORTANT
CMVCAN01B