Canopen Mapping Details; Rpdo Mapping (P446/P456) - Lenze SMVector Reference Manual

5.2 CANopen Mapping Details
The tables in the following sections may use descriptions from the CANopen DSP 402 standard.
This terminology should not be interpreted as referring to drive hardware.
5.2.1 RPDO Mapping (P446/P456)
Bit
Output Switch
0 0 = switch OFF (i)
1 = switch ON (e)
Voltage Enable
1 0 = Disable Voltage (i)
1 = Enable Voltage (e)
Quick stop
2 0 = Quick stop active
1 = Quick stop not active
Controller inhibit
3 0 = Controller inhibit (i)
1 = No controller inhibit (e)
4 Reserved
5 Reserved
6 Reserved
7 Fault Reset: on transition from 0 to 1
Motion Inhibit
8 0 = execute motion (e)
1 = halt (i)
9 Reserved
10 Reserved
Direction of rotation
11 0 = CW (forward)
1 = CCW (reverse)
Control
12 0 = Local Control
1 = Network Control
Speed Reference
13 0 = Local Reference
1 = Network Reference
DC brake
14 0 = DC brake not active
1 = DC brake active
15 Reserved
(6): Action of indicated bit is implemented as inhibit. These bits inhibit the drive when in the state indicated with (i) and enable the drive in the state indicated with (e).
P446 / P456 setting = 0
(6)
(6)
(6)
(6)
Commissioning
Bit
Output Switch
0 0 = switch OFF (i)
1 = switch ON (e)
Voltage Enable
1 0 = Disable Voltage (i)
1 = Enable Voltage (e)
Quick stop
2 0 = Quick stop active
1 = Quick stop not active
Controller inhibit
3 0 = Controller inhibit (i)
1 = No controller inhibit (e)
4 Reserved
5 Reserved
6 Reserved
7 Fault Reset: on transition from 0 to 1
Motion Inhibit
8 0 = execute motion (e)
1 = halt (i)
9 Reserved
10 Reserved
Direction of rotation
11 0 = CW (forward)
1 = CCW (reverse)
Control
12 0 = Local Control
1 = Network Control
Speed Reference
13 0 = Local Reference
1 = Network Reference
DC brake
14 0 = DC brake not active
1 = DC brake active
15 Reserved
Signed vl target velocity 0x6042 (RPM)
• RPM calculation based on P304 and P305
• Example 1: P304 = 60Hz; P305 = 1750 RPM
request setpoint forward (CW) at 25.0 HZ =
25.0 x 1750/60 = 729 = 0x02D9
• Example 2: P304 = 50Hz; P305 = 1390 RPM
request setpoint reverse (CCW) at 44.5 HZ =
-(44.5 x 1390/50) = -1237 = 0xFB2B
Note: sign of the target velocity takes priority
over bit 11 in word 0!
17
P446 / P456 setting = 1
(6)
(6)
(6)
(6)
CMVCAN01B