Lenze AC Tech SMVector Reference Manual page 11

Code
No. Name
CAN address
P410
(1)
(Node ID)
CAN baud rate
P411
(1)
System bus
P412
(1)
participant
Parameter channel
P413
(1)
2 (SDO#2)
SYNC COB ID
P414
Boot up time
P415 (1)
Heartbeat time
P416
Reset CAN node
P418
(1)
These parameters take effect only after power-up, P418 reset, "NMT reset node", or "NMT reset communication services"
Possible Settings
Default Selection
CANopen / System bus parameters
1 1
5 0 10 kbps (max distance = 5000m)
1 20 kbps (max distance = 2500m)
2 50 kbps (max distance = 1000m)
3 125 kbps (max distance = 500m)
4 250 kbps (max distance = 250m)
5 500 kbps (max distance = 100m)
6 800 kbps (max distance = 50m)
7 1000 kbps (max distance = 25m)
0 0 Slave
1 Slave with autostart enabled
0x1F80 NMT bootup - bit 2
2 System bus master (not NMT
master)
2 0 Enable: Node ID range (1...63)
with default COB ID for RPDO
and TPDO
1 Enable: Node ID range (1...63)
with programmable COB ID using
P440, P450, P460, P470
2 Disable: Node ID range (1...127)
with default COB ID for RPDO
and TPDO
3 Disable: Node ID range (1...127)
with programmable COB ID using
P440, P450, P460, P470
128 0
3000 0 {ms}
2000 0 {ms}
0 0 No action
1 Reset CAN communication
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
Commissioning
127 If P413 = 0, 1: maximum setting = 63
• P417 = 1: Controller enters operational
state automatically
• P417 = 2: Controller sends "NMT start
all nodes" after boot-up time (P415) and
enters operational state
• P413 = 0, 1: CAN address 1...63;
64...127 used for SDO2
• SDO#1 COB ID = 1536 + Node ID
• SDO#2 COB ID = 1600 + Node ID
(if enabled)
Default settings:
RPDO#1: COB ID = 0x200 + Node ID
RPDO#2: COB ID = 0x300 + Node ID
TPDO#1: COB ID = 0x180 + Node ID
TPDO#2: COB ID = 0x280 + Node ID
2047 Controller does not generate SYNC object
65535 Controller sends "NMT start all nodes"
message after this delay (active only when
P412 = 2)
65535 • Producer heartbeat time
• P416 = 0 disables heartbeat transmission
On transition from 0 to 1, re-initializes
CAN controller and activates changes
made to parameters marked with
ENGLISH
IMPORTANT
(1)
9