Canopen Mapping Details; Rpdo Mapping Details (P446/P456) - Lenze AC Tech 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 details (P446/P456)

Bit P446 / P456 setting = 0
Output Switch
0
0 = switch OFF (i)
Voltage Enable
1
0 = Disable Voltage (i)
Quick stop
2
0 = Quick stop active
Controller inhibit
3
0 = Controller inhibit (i)
4 Reserved
5 Reserved
6 Reserved
7 Fault Reset: on transition from 0 to 1
Motion Inhibit
8
0 = execute motion (e)
9 Reserved
10 Reserved
Direction of rotation
11
0 = CW (forward)
Control
12
0 = Local Control
Speed Reference
13
0 = Local Reference
DC brake
14
0 = DC brake not 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).
(6)
1 = switch ON (e)
(6)
1 = Enable Voltage (e)
1 = Quick stop not active
(6)
1 = No controller inhibit (e)
(6)
1 = halt (i)
1 = CCW (reverse)
1 = Network Control
1 = Network Reference
1 = DC brake active
Commissioning
Bit
Output Switch
0
0 = switch OFF (i)
Voltage Enable
1
0 = Disable Voltage (i)
Quick stop
2
0 = Quick stop active
Controller inhibit
3
0 = Controller inhibit (i)
4 Reserved
5 Reserved
6 Reserved
7 Fault Reset: on transition from 0 to 1
Motion Inhibit
8
0 = execute motion (e)
9 Reserved
10 Reserved
Direction of rotation
11
0 = CW (forward)
Control
12
0 = Local Control
Speed Reference
13
0 = Local Reference
DC brake
14
0 = DC brake not 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!
ENGLISH
P446 / P456 setting = 1
(6)
1 = switch ON (e)
(6)
1 = Enable Voltage (e)
1 = Quick stop not active
(6)
1 = No controller inhibit (e)
(6)
1 = halt (i)
1 = CCW (reverse)
1 = Network Control
1 = Network Reference
1 = DC brake active
17